The lucidity is very interesting i itself, in deed, but it is the conscious interaction within the dreams that will make it a step and a half above that experience and, by the same token, open up your consciousness to realms well beyond what one would consider a dream...
I don't know which "sleep paralysis" you refer to. Would you mind letting me know a bit more about the one you are experiencing? This way, I'd be able to relate to the experience you are having and we'd go from there?
The term has been used relating to so many different states...
Namaste :)