It sounds like you were lucid to me. It is such a strange state of mind, I think it is hard to remember how you felt. Combine that with the difficulty of remembering your dreams, and you end up trying to convince yourself you couldn't have been lucid. I know that's what I do. I can always remember the feeling of the lucidity clearly when I first wake up, but then it slips away along with the dream.

Congratulations, it sounds like a fun dream.