Well, the first thing you need to focus on is increasing the time spent lucid dreaming. I myself am not an expert on this, and I'll be working on it the same time you will, but don't act immediately when you realize that you're dreaming. Instead, stop, breathe, and say to yourself, "I am dreaming," or something akin to that. Do this often, and do your best to control any excitement that may come up. If you do not, then you may find that you have forgotten that you are dreaming. Ways to increase the time spent in lucid dreams are: rubbing your hands together, spinning, and falling backwards (be warned that the last two may cause false awakenings, so make sure that you're prepared to execute a couple of reality checks when you get out of bed. Also, the second one sometimes causes the entire dream to become completely black. If this happens to you, then picture a particular scene--it doesn't matter what--and make that surround you. I have heard one instance in which the dreamer pictured a movie reel coming from the darkness, and she went inside the movie--voila).
Getting dream characters to appear is almost exactly like anything else that you do to control your lucid dreams: picture that they are there. When you're walking down the street and you see a corner coming up, picture that a dream character is just behind the bend, right out of sight--or they could be behind you. You could also travel on buses, planes, or other vehicles and tell the operators that you would like to go somewhere that is very populated (or just mess with the drivers instead).
If you're looking for something different to do, then make something different happen. One way to time travel, for example, is to fly up past the clouds, visualize your intended time period--for example, the medieval age--and fly back down. If you want, you can ask the dream to present a dream door, turn around, turn back around, and see it. After that, you can open the door and see what's inside (or you can tell the dream what you want from it--for example, you might see a long-lost friend coming out of the door, or you might see the Yellow Brick Road.
Remember that everything you do in a lucid dream can be controlled, and remember that you're dreaming. If you're lucid, then you do not have to follow so much your subconscious' wishes.
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