Welcome to Dreamviews! :3
You don't need to be able to control your dream; as long as you were aware, it was a lucid. The easiest possible way you could summon someone (and this works very well) is if you simply turn around and "know" they're behind you. Create a small scenario in which they would be right beside you; for instance, if you want to summon your younger brother, say "stop following me, jeeze" as you turn to face them. Visualize them too, down to what they look like and exactly where they'll be standing, if you can. This same method can be used for summoning objects, and even teleporting! For teleporting, just open a door to where you want to go. You know how that when you open a door in your house, you know exactly what the hallway looks like, and the rooms? The more you visualize the room based on where you'll be when you walk into it, the better.
Hope that helps, and good luck!
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