Uhh ... there are degrees of lucidity ... you dont always think as clearly during some lucid dreams. But thats usually only for the very short ones (4-5 minutes or so).

For example, I've had a lucid dream which started out as a false awakening where I woke up and was brushing my teeth and realized I was in a bathroom that look nothing like mine. And then in my head I went "oh hey wait ... I think im dreaming" So I looked in the mirror at my reflection and noticed my reflection morphing... I had 14 fingers and they were way longer than they should have been.

Then I walked around my house and made conscious decisions .... I tried stuff like flying and passing through objects before I tried jumping out of the balcony because I thought it would be a safer way to go... But this whole time I didnt notice that the layout of my house was all messed up and that my mum was at home when she was supposed to be abroad.

So yes .... there can be varying degrees of lucidity. It all just depends on how clearly you are thinking during a lucid dream.