That was an LD because you were aware of the fact that you were in a dream. Our minds are kind of foggy when we're asleep though, so there's different degrees to lucidity.

I recommend stabilizing the dream whenever you become lucid. Do a reality check to remove all doubt about whether or not you're dreaming, and increase clarity by dream spinning or rubbing your hands together. From there you can carry on with the dream, keeping in mind that you are LDing so that you don't forget; and continue to increase clarity as needed, especially when the dream is falling apart