Off course, every interaction within you lucid dream makes you more connected to yourself. Truly meeting your "innerself" can take a while. Not sating you have to practise martial arts but you shouldn't limit yourself on your journey. Sometimes you might even get closer or learn things about yourself because the subconcious brain is pretty much unpredictable. Finding your subconsious can be fun, alot of minor religions encourage you to have fun in lucid dreaming alongside using it for enlightment.