Remember that for a dream to be under the "lucid" category would mean that one was aware that they are dreaming. that's all. don't worry about not being able to control some things. the whole thing with controlling things and changing things in your dream are simply skills you acquire as a lucid dreamer--it takes practice. there are diffrent kinds/levels of lucidity for that reason.

I think you definitely had a lucid dream, but you doubted yourself when you were officially awake. that's the thing about being lucid, you become "awake" in the dream. i think you did great with being able to think of your eyes and then fully wake up! that's the whole thing with being conscious
that's an awesome start man.