Redrivertears has got the absolute right idea about all of this I think. I find that in many, if not most of my lucid dreams, I know I'm dreaming, I understand that I'm in the dreamworld, but I don't care, and just go with the flow. Then when I wake up I get mad that I didn't do something cooler.

It's really normal really. You'll improve the more you do it. As Redrivertears said, don't rush to do something cool before you "loose lucidity" or wake up. Just take a step back, enjoy the dream, and take it slow, and these occurances like the one you describe will happen a lot less frequently, and you'll be in control more.