You were Lucid if you knew it was a dream. People often confuse control and lucidity. Lucidity is simply knowing you're dreaming. Here we strive to also help people gain control of their dreams, but in its entirety, Lucidity is simply knowing you're dreaming, which you achieved. Congrats!

Control will come with time and practice. The idea is to know its a dream and that you aren't bound by the laws in waking life anymore. Don't intend to fly, expect to fly.