You should count the "cop" dream as a lucid. Just because it was short, it was still lucid. And yes, it's easier to get lucid when we are waking up, since our mind is also getting ready to wake up and becoming more aware. Unfrotunatelly that also means, that those LD will be short. Because there is nothing we can do to make the REM longer.
What we can do though, is to train ourselves to notice when dream is ending. That's when you can tell yourself, while still lucid in a dream, to stay still, not wake up, and enter another dream right away. That is called a DEILD - dream exit induced LD.
To control your HH or dreams, all you have to do is KNOW. Know, that they are all made up by your mind and you are in control. It's always better to change something from the perspective, as if it already was so. So it's better to say "whoa, look how detailed everything is" then "I wish I saw more details". One is knowing, the other one is wishing. Knowing is always stronger, because then our mind has no choice but to make it happen, since we already "know" it's happening.
So, you have realized second time by looking at your feet. I suspect this is because that's how you realized in your first lucid. You can use it to RC to get other LDs that way. Classic RC and mantra combo is "looking at hour hands".
You say to yourself: "Next time I'm dreaming, I look at my hands (bring your hand up so you see them) and realize I'm dreaming". This is very powerful. Your hands are always there in the dream with you (so are your feet).
Stabilizing can be just you taking it easy after you become lucid. Take it slow. Touch your body, your clothes, the ground, nearby wall, feel the texture, temperature... Smell the air, taste something. This will integrate you with the dream. While you doing this, it's good to keep repeating a mantra "I'm dreaming" or anything similar, and to RC frequently, so you don't forget you are in a dream.
But the best thing would be for you to realize, that you can have a nice and long LD, since you have already done it with your dream guide. I guess it takes some practice and it comes easier to some than others. I still have a problem with super short LDs.
Also, getting better daytime awareness helps us get better awareness in a dream. That will make them more vivid, detailed and longer.
If you are forgetting to do anything in a dream, try a mantra. I used "slow down, stabilize" or "slow down, look around". You can also practice getting lucid during daytime. It may sound strange, but it works. Pretend you just got lucid. Stand in your room, pat yourself down, touch the ground, walls, smell the air. Yell out loud. "stabilize", "vividness now"...
Be carefull so you don't start believing, that if something happened in prior LD, that's how it 's going to be now forever. Because it will be what you believe. Reprogram your mind by thinking, planning our your next LD. Daydream about it, make a drawing, make a plan of everything how you will do it. So when you become lucid, you don't have to think, you just follow your plan.
here are some of our tutorials that may also help shed some light on the process
Induction Methods and Techniques short WILD
WILD excellent long and detailed explanation
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