Lucidity and dream control don't necessarily go hand in hand... you can have either one without the other. Weird, I know.

Sometimes you know you're dreaming (that's all it takes to call it a lucid - just to know you're dreaming). Sometimes you can control your own actions or those of other DCs, or make things appear or disappear in the dream - WITHOUT being lucid.

Sometimes you have control and lucidity at the same time.

I think usually control happens in a lucid dream, but I've had a few dreams where I seemed to be able to control things without that feeling of knowing it's a dream.

You might have only been lucid very briefly, and then exercised some control in a non-lucid state afterwards. I don't know... only you would be able to make the call of course.