MILDs are a magic way to induce LDs and especially work well for me at WBTBs.
Just make sure you repeat what you want to do, and it is the very last thing you think of before sleep.
Even if thoughts are flowing in, always be repeating it in your head overpowering other thoughts.
Another very important thing I found out is you need an objective.
If I said "go out and stand on the road", you would go "why?" or "get lost".
But if I said "go out on the road because your baby brother has just crawled over the kerb" you would not hesitate. (example only).
The point is the purpose.
So instead of repeating like "I will go lucid", try to repeat (for example), "I will RC and go lucid at the beginning of my dreams, and will try to jump and hover".
This does 2 things:
Firstly, it is specific and secondly that bit longer to remember and keeps your attention on the MILD longer than a short phrase.

Another important thing is to visualise yourself doing these things as you repeat it. Even picture a place where you will start your dream and do what it is you want to achieve.

Wow. Sorta a MILD tut, but is important to do it right, than fluff about.