Lucid dreaming... how do you take full control?

tl;dr at the bottom



Sometimes in a dream I am lightly aware of the fact that I am dreaming. But me as an entity in my dream, I don't want to tell myself that too much because if I think about it too much I'll just wake up, since I know that what I'm in is not a reality.



So last night, I forgot some of the context of my dream but I remember entering the outskirts of a city, and since I knew I was dreaming I thought to myself in the inception movie style - "I hope I have enough genuine inspiration to be able to continue building the city in my mind as I continue to go into it, coz all I see now from here is the skyline"



so I was in the outskirts of the city, it looked sort of like a shipping area. But anyways I enter what looks like a 3 story parking lot with a park on the side, I see some young people and I ask them if I could have a bike or a longboard or something so I could venture into the city. One of them said to go down to the lower level and take a car. And I'm like... "and hot wire it?" and they're like "yeah".



so I go down there, open the door and attempt to hot wire, now reminding myself that I'm dreaming I'm able to do it and I'm like "hell yeah!" the car starts off slow, but in time I'm in the middle of traffic telling myself "wow I hope my dreaming ability's integrity lasts" and then the dream goes all crazy and tornadoes pop in and yeah. soon enough i end up on the tippy top of a sky scraper, desperately trying to STAND on it



NOW thinking to myself, "I KNOW I'm dreaming, why can't I just stand on this thing? Why can't I make myself do it? Why do I have fear of falling?"



if you're in a lucid dream, how do you take full control? how do you avoid any doubts



and how do you avoid waking up by constantly reminding yourself that you're dreaming and what you're in is not a reality? or maybe that's just a problem of mine.