Yeah, you definitely had a lucid dream - although, as other posters have been hinting at, there are different levels of lucid dreaming. The commonality is that you are aware that you are dreaming. I myself have experienced a few levels-
“God Mode” - You can do anything, and the thought is enough to make it happen. You want to fly above a building, you can fly above a building. You have complete, perfect control of the dream.
For me, at least, this sort of dream is very, very rare, and I usually can not completely alter the dreamscape - for example, I can’t turn a dream about studying for algebra into a dream about effortlessly flying above beaches of white sand on a beautiful spring day, but I can make the algebra book burst into flame.
“Movie Mode” - I just had this happen for the first time about a week ago - I realized I was dreaming, and I thought, “I want to see my grandparents house.” So I closed my “dream eyes” and pictured their house “inside my head”, and then when I opened my “dream eyes” the image was there perfectly. This IS a very euphoric feeling.
“Imperfect God Mode” - For me, this covers the majority of my lucid dreams. I want to fly, but I can only fly a few feet off the ground. I can change things (e.g., making something disappear or fly through the air), but I have to try really hard, and the result is imperfect. Often, my ‘powers’ won’t work when there are other people in the dream that can see me, or that I’m trying to affect or demonstrate my powers to.
Learning to dream lucidly does have advantages beyond the joys of controling everything; the main one is getting out of nightmares. For example, in the past month, I’ve had two dreams where I was at work either naked or wearing a bathrobe that kept coming open. Both times, I realized within a few minutes that this was an impossible and I had to be dreaming, and I was able to redirect the dream into something more pleasant.
The easiest way to learn to dream lucidly, or at least the way that worked for me (I am by NO means an expert; lucid dreaming/hypnotism was simlpy an interest when I was younger) is to practice asking yourself “does this make sense?” - even when you’re awake. Just look around and say, “does this make sense? Yes, I’m in my car, I’m on my way home, this is my routine.” Eventually, you will find yourself dreaming, and you’ll ask youself “Does this make sense?” and realize it doesn’t. It is very hard to learn not to wake up at this point; that is your natural impulse. Once you learn to recognize that you’re dreaming and then also to not wake yourself up, you can have quite an experience.
(and yes, the lucidity- is a reference to my interest in lucid dreaming; also to the fact that I live in a state somewhat beneath lucidity. It is not a reference to the song “Silent Lucidity”)