Reading the argument about whether self-awareness is mandatory for Lucid Dreaming is making me feel like there might be different types of "Lucid Dreaming". I definitely have had dreams that I called lucid dreams that did not involve self-awareness but they went like this:
I realize I am in a lucid dreaming. I am not aware of the significance of this. I just know the name of the phenomenon. If I see people in those lucid dreams, I will sometimes believe that it really is them and that I am in a real world, although not the same one as the waking world. Then, you might say, you were not lucid dreaming. However, in those dreams, my awareness of my surroundings is greatly increased. It is a different experience then a usual dream. I think that although Zoth accepts this type of dream as a lucid dream, Sageous does not. Instead, he believes a lucid dream is an experience in which you become self-aware specifically. I think that's what they think.

In my opinion, we are are ALWAYS conscious in dreams. This is if you define consciousness as "being sentient". We obviously feel and experience our dreams, that's what they are, sensations. In some dreams, we become more observant and those dreams are more vivid, you might think a thought like "I am dreaming" (Without deeper understanding of it) and you start controlling your dream or acting differently. You've got yourself a dream that feels different, that you would classify as a lucid dream. If you have a dream, however, in which you become self-aware, that is, you are aware of yourself and your surroundings and the context and interactions between those two, you gain an even greater experience. I think this is perfectly parallel to our experience in real life.