Yes. Lucidity is not black and white, there are many variations between being fully lucid and being completely nonlucid. If you want to learn more, I would defiantly recommend checking out Reecejones87's video series called 'The five layers of lucidity' on youtube.

Generally, being partially lucid is a sign that you are very close to becoming fully lucid, so if you are aiming to become lucid dreams, you're nearly there.