I'm with Jellyfox.
I lucid dream every night, and I believe most people do as well... they just don't remember. As my fellow oneironaut has said, recall is immensely difficult, and even when you have a journal and wish to remember, and think about recall immediately upon awakening... it is only possible to recall a tiny fraction of what went down. If you wake up and have responsibilities and are not fundamentally interested in your dream life... you will be lucky to remember anything at all.
Now, let us clarify what is meant when we say lucid dream. Any dream where you question whether or not you are dreaming is a lucid dream. Naturally, this is not the full blown, absolutely sure you are dreaming and become a godlike being with vast control over the dreamfield stuff... but it is a spectrum. One that ranges from "Hmmmm... maybe I am dreaming." to creating entire dreamworlds and playing SimUniverse with them... and beyond.
I won't go off here and drop a huge info dump here now, but I will say that there are supplements and vitamins you can take to increase recall and vividness. There are also various yogas and techniques you can do, such as the Wbtb technique mentioned by the OP, as well as the Wild technique and numerous others. If dreaming is something that is important to you, you will find access to the information and achieve the mastery you seek. Just be persistent and don't give up. Being an oneironaut is not so different from being a psychonaut. Both require a lot of the same skills and focus. They dovetail rather nicely as well.
As for connections between lucid dreaming and spice... well, it is somewhat hard to say. The only real connection I can say is that if I spice up a lot, it is likely that I will also use spice in my dreams. (whether lucid or not) And, for the most part, spice works the same in both settings. The main difference for me is that if I am dreaming I can turn hyperspace on and off with or without actually consuming the spice. Thus I can have super short dips into hyperspace and abort instantly once I got what I needed... or have epic, endless voyages that go on and on... simply by thinking about spice.
This dream spicing is a true luxury, and the creme de la creme of tripping for me.
There you go,
HF