The first question could be either one of the answers you suggested. In a phenomenon called REM Behavior Disorder, people act out their dreams in real life, so if they dreamed of moving their legs, they would move their legs in real life at the same time, so this suggests that during a dream, we could actually be sending a signal to their brain to move a muscle. But then again, we could also potentially walk during a dream by just thinking "walk".
During a dream, it is possible to think we're lucid during a dream when we're actually not lucid. For example, we might have a dream where we they think we're dreaming, but aren't sure that we're dreaming, resulting in us not actually being lucid. Or alternatively, we may think we're dreaming and be sure we're dreaming without realizing that we're sure that we're dreaming, resulting in us not actually being lucid. For example, during a dream we may non-lucidly think "this is a crazy dream" before realizing that we're sure that we're dreaming.
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