Sounds like you were lucid to me. Maybe not a really high level of lucidity, but for me at least, those dreams are rare. It's usually a struggle to remember what I wanted to do while lucid. Usually my recall for lucid dreams is excellent, but I've just gone through a several month-long dry spell, and finally had a lucid dream 2 nights ago -- but my recall of the dream is not very good. It happens.

So I'd say you are achieving excellent results, and they are bound to get better as you do it more, as long as you stick with it and have confidence in your abilities. Way to go!