When I was a kid, I had sleep paralysis all the time also (and naturally lucid dreamed often). I believe the two are very connected.

If you haven't already, read about WILD (Waking Induced Lucid Dreams). It sounds like what you describe when you are sucked or pressed into a dream.

The thing that cured me of my fear of sleep paralysis, was reading about all the common symptoms. A pressure on your chest, slowed breathing/ suffocating, feeling of someone in the room just outside your vision. Its strange how many different scenarios these symptoms can be applied to.

The other night I had SP in the middle of the night. I saw a man walking into my room through the open doorway. The more I looked at the man, he began to change into a squashed version of a man, all compressed like a dwarf. Then I noticed that he was waking, but not moving forward at all, like moonwalking. He started to look like a computer projection of a squashed animated .GIF of a man walking in place.

I got up and walked over to him, walked around him to inspect him, and then thought "oh crap, if I'm moving and I was just having SP, then I must be Lucid"

Then the fun started.