It's actually easy to identify and differentiate a normal dream to a lucid dream. As long as you're aware that you're dreaming, it's safe to say that you're lucid dreaming. But, if you're not aware that you're dreaming(regardless of its vividness), it's just called a dream. Also, I would like to let you know that everybody can lucid dream. There are a lot of methods out there like the MILD, DILD and the DILD. Once you get the hang of it, you can do everything you want. You can fly, have x-ray vision, and even reconstruct the past dreams you had. Hope this helps
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