Hi hon,
yes I’ve experienced lucid dreams, and honestly, it was a delight. The awareness lasted only a short while, sometimes it degenerated into wierd stuff “out of my control”, but I suspect it was really my subconscious showing me my fears and areas where I needed focus.
My favorite are the ones where I am flying, and realize I’m dreaming, and soaring over the countryside. Truly refreshing and delightful.
That was years ago, when I was very focused on my spiritual growth. At that time I was also focusing on inward growth and dream interpretation, so there was a real focus on learning from my dreams, as well as noticing where I could have control of them. My next step was to truly take control and make something happen in the dream according to my will, but unfortunately when I would suddenly become lucid in the dream, most of the time I would have no idea what I really wanted to do (except in the cases where I knew I wanted to continue flying, or just delighting at being aware).
It’s like when someone asks you if you had a million dollars, what would you spend it on? Hurry, answer NOW. See what I mean? 
You can take control of them, enjoy the lucid moments, and if you choose to, you can, beforehand, think of something within yourself that you wish to change that you may be having difficulty with. Then, when you are dreaming, make that thing happen. If our dreams can tell us things about ourselves and our subconscious, then it stands to reason that by intentionally making something happen in our dreams, we are affecting the subconscious.
Best of luck to you. 