What you're experiencing when you wake up is a hypnopompic hallucination, which is like a hypnagogic hallucination except it occurs when you wake up instead of when you fall asleep. If you remember to not wake yourself up intentionally when you're having lucid dreams, you will probably stop having them, since you've said that they only happen when you force yourself to wake up. If you train your prospective memory and set the intention of staying in the dream until it ends on its own, you will avoid having this hypnopompic hallucination.