I'll wake up and feel my body completely relaxing, but I try keeping my mind constantly thinking about lucid dreaming. I'll get to the point where my HH start to look like fuzzy images and then I come out of it. Do you have any advice for me in trying to cross that barrier?
Just keep being relaxed and if you are going for a WILD (i.e. being aware during the transition from wake to dreaming state) you might try finding an anchor so that you don't black out completely. An anchor is something you focus on in order to retain your awareness during the transition to sleep. You can use your breath as an anchor or the feel of your body. You can also focus on the images that appear and imagine yourself acting in them, visualize doing movements with your hands inside the dream, etc.

But this is only if you are trying to enter the dream directly (WILD). If not, you can use a wake back to bed (wbtb) where you focus on expecting to have a lucid dream and then just allow yourself to fall asleep. You might then realize you are dreaming after you fall asleep (DILD).

I would recommend reading about the techniques and doing some day time practice (awareness related, RCs, etc.) and some journalling for starters. You can also combine this with wbtb for better results.

Best of luck and see you around!