I too have spent time trying to convince lucid dream characters that they are really in there with me. Sometimes I am successful and they go fly with me. I am always disappointed to find when I wake that they don't remember any such experience. Ah well.
If I were you and at the stage you're at, I would work on advanced dream programming instead. Before you go to sleep decide, in advance, what you will do the next time you find yourself in a lucid dream.
For me, this is often planning which hot hunk from the CW I want to spend the evening with. Or it's planning whether I'll be Storm or Kitty Pryde and go fight the sentinals or whatnot. Plan the dream in advance. So when you find yourself lucid, snap your fingers and launch into action. sort of like saying, "Computer, initiate holoprogram Riker alpha 1." And then the "computer" resets the holodeck program (your dream) to do what you want.
Then come back and tell us what happened.
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