Here’s something a little different that you can try… Simply remember your most vivid memory of that particular person (or puppy dog as the case may be) while you are lucid dreaming. You can also use this to switch dream scenes, by simply remembering a location. It helps to do this a few times throughout the day to get the hang of it.
The idea is that memories are like little day dreams, and the process of remembering something while dreaming will completely wipe out the current dream - and switch it with the memory. Make sure you don’t lose lucidity, though (as happened to me the first time I did it).
Here are some similar threads…
https://community.ld4all.com/t/tips-for-creating-things/16131
https://community.ld4all.com/t/creating-objects-people-effectivly-in-dreams/16808