I agree with Relax and Llama, however I will add one more thing... being aware during the day helps dreams to be more vivid but also the other way around. So you should get more into LD!
When a dream feels hazy and you are lucid there is one easy technique that helps a lot... as soon as you become lucid start touching everything around you, feeling textures, temperature, etc. This "ground s" you in the dream and helps it become much more clear and vivid.
Regarding how to have LDs more frequently I will give you one simple technique to start with, it is extremely effective and should get you going within 3 days tops (it is based on DEILD), here it is:
1- Before going to bed spend 3-5 minutes repeating "When I wake up during the night I don't move a muscle or open my eyes" or something similar
2- You will eventually find yourself awake in the night or early morning and will recall this petition, follow it, don't move or open your eyes!
3- Start picturing anything such as your last recalled dream or any setting you want, for example picture yourself walking through a forest,feel the wind, the soil, etc. Make it as real as you can.
4- Once you start seeing what you pictured or any other setting start engaging it... move! touch things!. Once it feels solid enough proceed with whatever you want to do.
Give this a try! It worked for me the first night
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