Hey DreamLove, welcome to the forums! 
I guarantee you, you are not crazy. Lucid dreaming is pretty normal on the spectrum of the weird and wacky. For some it's a talent (my brother, for one) while others need to develop lucidity as a skill (like us). It's still a relatively unexplored field, even though considerable research has been done.
It's great that you have natural recall, it means you've basically leapfrogged over the first and most tedious hurdle to lucidity. As to how lucidity differs from normal dreaming...
It really depends on the person. For example, I have excellent control of my dreams even when I have no idea things aren't real. I never feel like an observer, but rather like I'm actually participating. Other people have an "on rails" sort of experience. Where, even if they are fully aware of the dream, they can't control anything. Naturally, the goal is to develop both.
The level of lucidity may also determine how things feel. Low-level lucidity may lead to a fuzzy or washed out dreamscape, with little detail and no vividness. On the other hand, a lucid may feel almost exactly as it does in reality, or, optimally, it may seem even better. To be certain, you have full tactile and sensory response when in a lucid state. Depending upon the amount of control you have (mind over matter, really) the dream may easily carry out just like reality, or you can bend the rules to do whatever comes to mind.
Sleep paralysis (SP for short) is a very real phenomena. Basically, it's what your body does every night; locking your muscles into place. That way whatever you do in a dream doesn't carry over into the waking world (unless you sleep walk). Usually it only happens after the person has fallen asleep. However, it is possible to experience SP consciously.
SP is most often experienced as someone wakes up, where the body hasn't caught up with your brain yet. It can also come upon you at night, if you can stand to remain in the same position (typically supine) for a long period of time. It is also typically accompanied by states of hypnagogia, which would be what you see, hear, and feel when slipping into the gap between waking and sleeping. The important thing to remember is that none of it is real.
If the situation ever escalates into something you think is unbearable, you can break SP via movement, though your body might feel a little heavy at first.
SP is linked to several techniques used to achieve lucidity, most notably the wake-induced-lucid-dream (WILD). It's typically considered the hardest out of the myriad available just because of the SP hurdle. It's definitely not the only method though, so don't worry about inducing it purposely. If you want to try stepping into a dream, though, just visualize a setting in as much detail as possible when you feel it coming on, shortly; after you should find yourself within that dreamscape fully lucid and raring to go. :p
I assume that the "it" you refer to is SP, or more specifically a variant of SP commonly called "old hag." It's named for the feeling that some experience when it hits; almost as if they had an old hag sitting on their chest. Such is it's classical description used in literary and artistic works (Henry Fuseli's Nightmare for one). That would be the "evil presence" you mentioned. It can take on a variety of forms, yours is actually one of the tamer types.
I've got no real idea what causes "old hag" particularly, but it just plain sucks when it happens. Again, if it becomes unbearable, move. I wouldn't really advise trying to step into a dream if old hag hits, doing so may result in unpleasant experiences. Just roll onto your stomach and hope for sweet dreams.
I've listed a bunch of links to more information if you want to pursue some of the things I've mentioned.
http://en.wikipedia.org/wiki/Sleep_paralysis
http://en.wikipedia.org/wiki/Lucid_dreaming
http://en.wikipedia.org/wiki/Stephen_LaBerge
http://en.wikipedia.org/wiki/Lucid_d...opular_culture
http://www.dreamviews.com/tutorials.php
http://www.dreamviews.com/community/...ghlight=hag%2A (don't let it put you off)
Happy dreaming!
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