Congrats on the WILD.
With experience will come more control and dream clarity.

Is there anyway to get rid of that "asleep" feeling in the limbs?
You can give suggestion a try. Simply tell yourself the feeling will be gone.

Next.. What do I do if I want to stop dreaming?
In a lucid dream, usually I just tell myself to wake up and I do.

Is there anyway I can end a dream without waking up and going back to sleep?
I think the dream spinning, as mentioned previously, is supposed to help change a dream scene.

Is there anyway special way to close my real eyes and just keep my dream eyes open?
I have problems with my eyes in lucid dreams too. I read somewhere that we have to realize that we don't actually use our eyes in dreams. There is no need to have to open them. All we should have to do is want to see and we will see. It's a hard thing to remember in dream when someone like me has a habit of opening my eyes at the start of a WILD.