How Do I Make Lucid Dreams More Realistic?

Last night I had a strange experience that I think was a lucid dream.

Before falling asleep, I couldn't sleep for a while and was thinking about buying an island. Eventually, I fell asleep and started dreaming.

From the beginning of the dream, I already knew I was dreaming, but I wasn't controlling anything at first. I was just following the dream normally.

After a while, I decided to try controlling it. I was at my school and there was a metal gate/door. I thought, "Open," and it opened. That's when I realized I could influence the dream.

Then I went to the roof and tried to fly. As soon as I tried, I woke up.

The weird thing is that the dream was blurry and didn't feel very realistic. It felt more like my imagination became 100x stronger than normal. It didn't feel like I was actually there. Instead, it felt like I was creating everything with my mind in real time.

Has anyone else experienced this? Is this normal for a first lucid dream? How can I make a blurry, imagination-like lucid dream become more vivid, realistic, and stable?