Wow, congrats! Definitely progress.

I've had dreams like this too, although I usually take the risk and jump off of tall structures or out of windows. (Not such a great idea but I'm more confident than skeptical.) RC's are helpful in that they can confirm you're lucid dreaming, though they don't always work, which is why you should do more than one. Dream stabilization is the main key here. You woke up because you were too excited. Happens to us all. Read the Dream Stabilization and Clarity Tutorial found in the WIKI. I also suggest reading more about the concept of awareness. Puffin's SAT Technique is very helpful, along with The Beginner's Guide To Lucid Dreaming. Have fun!