There are many techniques to become lucid. Most of the ones involve you actually being 'in control' of the shift from awake to asleep, and are aware of yourself entering the dream. Accompanying these techniques, are usually strange feelings, SP, hallucinations, etc.

Now I have sort of a big problem with these things. I relax, and everythings pretty peaceful, but I am just way to anxious. Now I'm not sure if that is the right word, but let me explain.

At times, I am relaxed, and I catch myself slowly drifting of to sleep. This isn't necessarily bad, because I just noticed it, and now I can just go back to being aware. The problem is, once I notice this happening, my heart starts pounding and I sort of snap back to the awake state, almost like a reflex.
Also when I'm trying WILD or whatever, just the slightest sign of me getting somewhere, like feeling my limbs go to sleep, or getting HI, will get me all revved up. My heart will start pounding, and my mind quickly exits the state i was just in. I guess at those times I'm really excited about what is going to happen next, but also a bit affraid.

Either way, this is really keeping me from doing many of the techniques in here. I would really like to hear if anyone has a solution for this, or maybe tell me how they got over it if they've had it.