No it doesn't, lucid dreaming is becoming aware whilst you are asleep and dreaming, you were, just like you said, daydreaming.
Next time you are daydreaming, carry it on, imagine new places etc. then imagine yourself becoming lucid in that daydream, pretend it is a real dream and just act out what you would do in that dream, this will help get your motivation up, get your mind visualizing what it is like to be lucid and so you're more accustomed to it and not shocked/scared when you experience your first one. Try it as you fall asleep also
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