Has anyone else had the experience where you are aware in the dream that you are dreaming, yet you don't comprehend what this really means and "become lucid"?

I know that the definition of a lucid dream is being aware that you are dreaming. But I've noticed that an odd situation is happening to me quite frequently, including just last night- I was in a dream, and I recall confidently thinking to myself that I know I am dreaming. However, I did not want to do anything like try to fly because there were people around and I was worried that they would remember this IWL and think that I was crazy or something. I don't understand how I could have known I was dreaming and wasted the opportunity!

Any advice on what I may be doing wrong or what I can do to fix this would be greatly appreciated. Thanks!

PS: Sorry if this is in the wrong forum. This is my first time making a new thread, and I was unsure of where the proper place to put this would be.