Yeah, sometimes you can be lucid and think like you would while your awake. Other times you can get lucid and youll still be fairly groggy and not really have the same thought processes.

The best thing to do is when you realise your dreaming, make it obvious, scream "IM DREAMING RIGHT NOW" or something similar. Once its fully sunk in that its a dream you shouldn't have too much problem.
But your right in thinking that with more experience, the less you'll suffer from this. But don't expect it do vanish completely.