It comes to down to confidence and experience. You're new at it I believe so just keep inching yourself closer.. staying in the dream longer.. or whatever you feel comfortable with at the time. It's normal to feel that way. I would suggest if you asked yourself what you are worried about or concerned when becoming lucid.

For example, I would love to OBE or lucid dream in that fashion-- it's debatable. However, I have had chances but I freak like you do..and I know why cause I'm afraid I won't be able to get back into my body.

So maybe my rationalizing and finding out what you are afraid of and owning it, it will improve. lol you have the will to lucid dream.. so the fear should be gone...just in time

Good luck!

EDIT-- just realized Agota wrote something similar - my bad