Hey Fr0ggeh! Welcome to Dreamviews!

It's great that you've already had lucid dreams. You just need to practice become more lucid to clear up the dreamworld so it'll be more realistic. You can say aloud "I'm having a lucid dream" or something to that effect so that the imagery will become clearer. And you can focus of certain objects in your dream. Try to smell the fragrance of a flower, fell the wind against your face, see every detail of a forest, blablabla...