When I started having lucid dreams they were very blurry and hard to keep a good concentration. Now after years of practice they are fully vivid wakeful and often without limitation. What you'll find is that the most useful skill to develop is a steady flow of concentration. Always get outside and open up the realm. You need to find a belief system that enables you to have fuller control in your dreams, whether that be wakefulness, magic, word commands, or special techniques. From there you might be surprised to discover how deep, powerful and creative your mind is. Good luck and stay motivated, it's worth all the effort.