I also had them as a kid, not really knowing what was happening or how far I could go with it.

Freshman year of college, my sister told me about lucid dreaming. I did a bit of reading about them.
And then a week or so later, I had my first one. Totally unexpected.
I ate a cheese pizza with a cute boy, and paid with a hundred dollar bill.
It was in the middle of the night in a deserted diner.

Think Nighthawks by Edward Hopper.

The next night I had the most epic lucid dream to date.
Way better than cheese pizza. Went to three different countries.