Hey,
lucidity does not equal dream control in any way. Lucidity just means realising that you are dreaming while still being in that given dream. I for instance often have a high degree of control in my lucid dreams, but however sometimes there are dreams in which I realise that I am dreaming, but I can't actively control them (sometimes I can change bits of it, but the dream just drags on without giving me a chance to control it). However once you have some sort of control over your lucid dreams it all comes down to expectation. If you expect something with absolute certainty then it will happen.

I can't tell you why you get saved in the last second and in a different way than you expect. You might just ask DCs when you are lucid and have some control. They might give you answers to some questions you have like "Why does .... happen?".