I don't know what the technical word would be for the type of dream you just had, but there are different levels of awareness in dreams. I have had dreams where I 'knew' I was dreaming and that it was just a dream, but my brain didn't 'wake up' in the dream so that I had full control of the dream. The dream still unfolded like a normal dream where random things happened.
You will know when you become fully lucid and aware of yourself. For me I seem to stretch as I gain awareness. My surroundings are more clear and vibrant when I focus on them than in real life, and I can usually sense my waking body if my sleeping position isn't very comfortable.
I haven't yet been able to move from the type of dream you just had, to a fully lucid dream. Sorry, but hopefully someone else has who can give us both some good advice.
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