Hi, welcome
First of all, you are aware that you are dreaming so by definition you've had lucid dreams. But there's still room for improvement. This tutorial focuses on control:
http://dreamviews.com/community/showthread.php?t=66753
When you use DILD instead of WILD your dreams will be more vivid I think. I've never succesfully WILDed, so I'm not a reliable source though. You can find the link for DILD
here. You can also read
this tutorial about MILD, which is a form of DILD.
3 to 4 dreams recalled isn't bad at all, but if you want to get better be sure to keep active in your dream journal.
Good luck!
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