This very much could have lead to a lucid dream. The noises you were hearing are called HH (Hypnagogic Hallucinations), basically just hallucinations created by your brain. HH starts to happen when you're close to a dream, so the next time this happens, try and relax. If you get too excited, this may disrupt your mentality (I mean, you can't sleep when you're over excited now, can you? ).
You were very close to what could have potentially been a lucid dream. Keep up the effort and try it again!