I found how to lucid dream?

A few weeks ago I woke up too early, not getting enough sleep. I took a test and went back to my dorm to sleep, and then I had a bunch of dreams in a row, and then I jumped off of a cliff. But instead of being scared of the fall, I remember screaming "woohoo!" while falling and being happy. I hit the ground but didn't wake up.

I guess this would be a lucid dream because I must have known that jumping off a cliff and falling wouldn't kill me?

For my second lucid dream, I think I once again did not get enough sleep. I woke up early, and was tired. So I went back to sleep and I was trying to make an image in my mind of what I wanted to dream about. I wanted another falling dream, and I remember thinking about it and it slowly took shape as the dream began. Then my dream turned into me going up a tall building in an elevator, and then I pushed the button for the elevator to free-fall down. I knew that I was lucid in this one because at the beginning of this dream I felt like I had to work to keep the dream image intact by thinking and concentrating hard. And then I knew that falling 50 stories wouldn't kill me, and I enjoyed the fall.

So for all you expert lucid dreamers out there: Is that the best way to lucid dream? To wake up while still being very tired, then falling back to sleep while thinking hard in your mind what you want to dream about? Please Answer if you can!

It's the best way for me. I've been doing it for fifteen years. There's a name for it, too. :)

It's called WBTB. Usually it's done by setting an alarm clock to wake you up earlier than you usually would. This allows you to fall asleep and go directly into the dreaming state. I don't know much about it, because the first few tries for me I couldn't fall asleep again.

Wake Back To Bed. (WBTB)
As Pegorian stated above..