Yeahhh, I believe I've had a similar experience before in one of my lucids. It was one of those dreams where you fall in love with a DC...everything was amazing and euphoric and it slowly glowed and dissolved, and my emotions were that of longing and desire not to wake up. And yeah, I was filled with a peaceful serenity at the time. If I recall correctly, nothing external woke me up, I think my REM period just ended.
And yes, verbal commands do tend to help. Also it might be helpful to stabilize the dream by interacting with your surroundings by touching whatever you can and paying attention to how it feels. That's saved me from waking up often. Although I do sometimes wonder how silly I must look to DC's, because often I just throw myself at the ground and crawl all over it lol

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