I've been looking at the way many of my lucids have panned out:

I'm in a non-lucid, I'm in a tricky situation (for example, an alien abducts me), I'm scared and I think, "I wish this was a dream - I'll RC to be sure", I'll nose pinch and know I'm dreaming and then fly off and explore.

I was thinking of ways to reinforce the benefits of becoming lucid so that your unconscious, sleeping mind would see becoming lucid as an attractive option in the future. So, instead of becoming lucid and doing self-indulgent things, I could actually become a problem solver and solve the problem I'm facing in the non-lucid. So in the "alien abduction" example I could capture the alien or perhaps kill the alien. The result of this would be that in a future non-lucid (especially a stressful one) my sleeping brain would view becoming lucid as a problem solving strategy and thus would be more likely to make me lucid.

I don't know if this would work - in my last lucid I forget to solve the problem and went off flying instead.