When I realize I am dreaming, I usually feel very excited and try to fly, explore and memorize details of my surroundings. I often find that I am able to read any kind of writings a lot better (and they actually make sense). Noting the details helps in figuring out later where I was during the dream.
If guides and/or other beings are present, I ask them who they are, where we are, etc. It is pretty amazing how much clearer lucid dreams are compared to other dreams.
Sometimes I know before falling asleep that I will be having a lucid dream. It’s a detached very calm feeling of being focused inwardly, similar to being in a hypnotic state, but not that deep. It all occurs naturally; I do not use (or have interest in using) any aids.