Hi, been keeping a dream diary since 11th Jan

so far i've been lucid 3 times - my last 3 nights of dreaming.
That seems great, it's been through the MILD/DILD techniques. Ive been repeating mantras before i sleep, listened to lucid dreaming 3.0 yesterday night, and i've been checking my hand and so on every few hours.

Heres my problem:

When im lucid, i dont get 'fully lucid'
i realise i'm dreaming, but nothing is vivid, much of the dream is very...undetailed, shapes arent perfect, it doesnt seem real at all. I've tried rubbing my hands (which i think i do) things still seem very undetailed and blurry. I also think I tried spinning, but maybe I didn't, I think i'm doing these things, but am I? I think i wake up, or everything goes black when I think I spin, and i think i wake up. It's all very annoying to keep the focus. In fact, I even last night went on skype to talk to my irl friend about lucid dreaming. Of course, if i was 'fully lucid' i wouldn't even be doing that!

So I'm just wondering how I can make things vivid and how to prolong things, because at the moment I haven't been able to do anything except move about through walking or running, while lucid.

Thanks!