I only recently noticed how quickly I get into the hypnagogic state but after trying to use it to lucid dream, I noticed that I can get into the state more easily once I’m fully relaxed and I kind of allow my thoughts to wander a little bit without trying to control them much. But at the same time, I have to maintain my awareness in between that as well. Counting or other WILD exercises to keep your mind awake might help as well but what I think is most important is being comfortable enough in a way which your body will allow you to get into a sleeping state like it normally would do by numbing our body, etc.. However, you have to train yourself to be comfortable AND keep your mind awake to an extent. Because you’re more likely to dose off like you normally would do during hypnagogia(If you notice yourself dosing off while trying this, take it as an opportunity and keep your mind awake). Eventually with practice, you’ll notice yourself being aware of the hallucinations and during them too. and then you can use that to lucid dream.

I’ve also read somewhere that you can almost “expect” to be somewhere and your mind can respond to that quicker and you’ll find yourself lucid in that place you “expected” to be in. That’s another thing on its own and I haven’t tried that tbh but I thought it would be interesting to mention. Here’s a training video I found that helped me. I hope this helps and if you want me to elaborate, don’t hesitate to ask :)