Hey there,
The thing to remember is that we often think in 'categoric' terms regarding lucidity. You're either lucid or you're not. But like Sandman and Osimero show, its actually more complex. Consciousness, waking or dreaming, can fluctuate a lot, you can be more conscious, you can be less conscious. It's really a sliding scale, ranging from highly conscious to barely conscious.
In dreams, in my opinion, we are always conscious, to some degree. Lack of consciousness I think would be coma. You fall into one, three days later you wake up, and there's just a big blank nothing. In dreams, we have the capability for memory (dreamrecall), and the capability for time tracking (when we wake up we usually do feel that time has passed), among other things. This implies consciousness.
So its not that you are subconsciously aware of dreaming (well you are, but that's pretty much a given), you're actually consciously aware of dreaming, just at a far reduced level 
-Redrivertears-
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