In my opinion, you are not lucid, but your dreams are more conscious that most peoples.
For most people, a dream is basically real life, they don't question it, things happen as they "should".

For you it seems your brain makes the connection that you are not in waking life, but are actually asleep. You remember that when you are not in waking life, but still experiencing things, you are asleep. However your brain isn't awake enough to give you control like in a full lucid.