So your problem is that the few times you realize that you're dreaming before you wake up, you wake up soon after? This is a common problem, it usually goes away after you've had more practice lucid dreaming. When you realize that you're dreaming, don't let yourself get excited, and focus on what you see and feel, and you'll be much more likely not to wake up right away.
As for trying to contol what you'll dream about by telling yourself what you'll dream before going to sleep, that doesn't work well for most people. It's much easier just to learn to recognize when you're dreaming, remember what you wanted to dream about, and then just do it while you're still dreaming.
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