This problem happens a lot, with a person becoming lucid but not really 100% conscious or in control of their behaviors. I have found that making sure to stabilize your dream REALLY helps this problem. Try to discipline yourself, try to make it so that your first thought when you become lucid is, what are my lucid goals, and how can I accomplish them?
A lot of the time, I'd be afraid of waking up and just end up doing something stupid, or something that would make the dream fade out. When I started 'stabilizing' whenever I reality checked during the day, this association carried into my dreams so that when I became lucid I would immediately stabilize the dream, become very mentally awake and aware, and then I would list my dream goals and choose one to attempt. I recommend you try this.
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