Same problem with lucid dreaming?

This is a normal problem with lucid dreaming, I have been a lucid dreamer for over 25 years and I have had the same problem as the one you described. I think that there is a very fine balance between dreaming and waking. What seems to happen is that the more lucid you become the closer you seem to get to the waking state, in fact I have been awake and watching a dream at the same time which is very weird. The only advice I can give you is try and find the balance, its not easy to locate , I still wake and get cross especially when its a good dream. My personal expertise if you like is flying, I started of with a glide of about 20 feet and now I can levitate at will in my dreams. I can now fly very high and fast like Iron Man but its taken me 25 years to learn. See you out there good luck, you can email me if you have anymore questions. Nice to talk about lucid dreams.