I think that the 'point' of lucid dreaming is what you make it to be. What is the point of daydreaming, of imagination? Take that, square or cube it and you've got a point for lucid dreaming.
For me, it's just a lot of fun when I manage to have a lucid dream. Flying, Exploring, what you described as "your desired outcome"; even just being more aware can itself be a reward.
You can find a compilation of more reasons here: Why attempt to have Lucid Dreams?