It's harder to suggest for you, since you've been having lucid dreams like these naturally. If you didn't, I'd suggest recalling your set task whenever you reality check in real life. So I'll suggest something similar. Try repeating your goal to yourself as you fall asleep, telling yourself you will remember it in your dream. Write your dream goal in your dream journal before you go to sleep, and during any WBTB you may do. The key in your case is to get your goal in your mind just before dreaming.

Also, focus on one goal at a time. It's much more rewarding to have a fleshed out dream where you do one goal well than a dream filled shallowly with many half-ass completed goals.