What goals should I set for a shared dream?

I've wanted to do this for awhile, but I'm not necessarily that good at lucid dreaming. I've only had 3 or 4. My dreamcall is about every other day I recall 1 or 2 dreams. Anyways, I'd like to have a shared dream sometime, whether it be on the far future or near. I tried this on my last lucid, but I went about it stupidly and tried to "think" the person there. I woke up because I concertrated too hard. Here are my questions:

What should lucid success rate be?
Should I be very good at dream control (I am)?
Should the other person be lucid, or anything else about the other person?
Should my dream recall be better?
Is being pre-arranged necessary?

Thanks for any feedback.