No, going to sleep stoned limits it. Lucid dreaming is a technique you have to work on over time... google it and you'll find techniques to enhance the number of lucid dreams you have until you can basically have them on command. Lucid dreaming is one of the best things EVER because there are no earthly limits, you can fly, swim forever, do whatever you want. One herb that can help in lucid dreaming is Calea Zacatechichi (it won't automatcially make you have lucid dreams, its an aid!)