Hi, welcome to Dreamviews!
How lucid someone is doesn't depend on how much control they have - lucidity and dream control are two completely different things. You could be completely non-lucid but have great dream control (throwing fireballs, etc.). You could also be very lucid but have poor control, as in not even being able to teleport.
The term semi-lucid basically means you're fairly aware, but not aware enough to make that conscious of decisions.
Myself, I enjoy SP (although it can sometimes be slightly alarming or unnerving). As for the eyes, that doesn't really "get better", because rapid eye movement is a natural part of REM. Sometimes it happens when you hit SP. To be safe, make sure your room is completely dark so if your eyes open, the light won't snap you out of the SP. Or, wear a sleep mask - the extra pressure on your eyelids should keep them closed. Don't fight it if they do start to open, because that might also stop the SP.
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