one: sounds to me like you were defenately lucid. you said to yourself, in dream that you were dreaming, so you, indeed, "gained lucidity." what you are calling "gaining lucidity" is dream control. i'm suppposing you knew you were dreaming the entire time, but you accepted things as if it were a dream, and therefore continued with the dream as you normally would. your eye theory (where you opened your actual eye) sounds like a defenate possiblity. although if this does happen again in the future, i would do a reality check just to make sure. and it is defenately possible to have a lucid dream without and preparedness. people have lucid dreams when they are young and, obviously, have no idea that lucid dreams are even possible.

two: sounds to me like you had a hypnic jerk (theres the wikipedia on it) and its completely normal. a majority of people have it occur, and i believe its part of the transition from consciousness to sleep paralysis (dream mode). as for the panicing stuff, i do the same thing, you're just going to have to work on keeping calm.

keep trying. you'll get it eventually. if you need any more help, feel free to PM. and welcome to the forums