Why the difference?

I've noticed that I tend to have two different types of lucid dreams. The first is what I used to consider the only kind of lucid dream that I had, and I'd have two reactions. Basically, I'd suddenly become aware that I was dreaming and the dream would become super detailed and realistic. From there, I'd either be calm or panic. Well, not really panic but my heart would feel like it was racing and I'd start running around looking at everything while I could, soaking in the details and the overall experience before the dream collapsed. The times I was calm, I simply didn't have that urgency but I'd still be curious and would wander around. These dreams seem like they last at least a bit longer and seem more stable.

But recently I noticed that I have what I consider "semi-lucid" dreams. I had one a couple nights ago, and towards the end of it I realized I wasn't wearing shoes. Moments later, I was suddenly wearing them and was particularly aware of the feel of them and sound they made as I walked. I think that brought about more lucidity, because then I went outside and looked at a building across the street and admired the detail of the texture of the paint on the wall. I feel like I had an awareness that I was dreaming for a while, but only became 'conscious' of it toward the end.

Other times, I've had a similar 'partial awareness' that it was a dream, but it didn't feel the same as a fully lucid dream. I'd simply mentally comment to myself about aspects of the dream, with that awareness of what it was, but I'd still just be a passenger.

So why the differences in reactions to lucidity? Is it just different degrees of awareness and consciousness within the dream?