I'm sorry, I don't think the title is very accurate, but here's what I'd like to ask:

Let's say I wanted to have a dream in which I am spending time with a certain friend of mine. How would I do that? Would I have to enter lucidity? I was told before, that I could make a "foundation" for such a dream, in which I would imagine or "daydream" about what I would like to happen in that dream, and think about that before I go to bed.

So, my question is. Would this work? Or, what is a better way in which I could do this? Would I have to enter lucidity?