I find that combining several techniques is best if you want to achieve lucidity. Raise your awareness to increase lucidity overall and spot those Dream Signs and get a feel for when you're dreaming, repeat mantras before going to bed to let it be the last thing on your mind before falling asleep, aswell as intentions to really want to experience all that awesome stuff you've already experienced You'll probably see improvement fast as you know you're capable of it all and can long for it. Good luck!