That's a common doubt when beginning. The typical thing people will say is that when you have a lucid dream you will have no doubt it was a lucid dream. I had the same doubt when I started a year ago, I had a lucid dream in which I was talking with people who were biking, and I knew it was a lucid dream but somehow it didn't "shocked" me, like a normal realization of being dreaming would do, so the plot continued as I didn't know anything.

Those dreams you had are lucid dreams indeed, but you are not sure because your awareness wasn't high. As you gain experience you will have lucid dreams in which you know you're dreaming but it's not like you care, and lucid dreams in which you will not believe it's actually a dream, because the realism and the feeling of having a high awareness level and being fully conscious is beyond words. Just keep practising, don't lose motivation and try new techniques and schedules, consistence will take you whenever you want. Good luck and hope it helped!