Is there a way, if you don’t want to be in a lucid dream, to really just actually wake up? Thanx!
Firstly, welcome to the forum!
Secondly, why would you want to wake up from a lucid dream? In a lucid dream, you can control everything you believe you can control. If a situation turns nasty, you can just go somewhere else or cause the situation to change.
Thirdly, if for some reason you do want to wake up, yes, you can. There are numerous methods; for some people, it may be enough to just will yourself to wake up in real life. You can alternatively try imagining yourself in bed, focusing intently on one object in the LD, “falling asleep” in the dream, or just standing in one place without doing anything for a while.
Waking up from a dream is (unfortunately) one of the easiest things you can do. Just this morning I willed myself awake from an LD that had just started because I remembered I had dozed off after the alarm went off! 
I just shut my eyes really tightly and I eventually wake up.
But it does help for awakening from a bad dream. Like shutting your eyes and saying to yourself to change the dream. It help on ND.
But if you have enough presence of mind to realize that you can escape a situation by waking up, then you must know that you’re in a dream and can therefore alter the unwanted circumstances.
Now that I think of it, the first time I was lucid was when I was seven. At the time, I wanted to escape from my dream, and somehow I just realized that I was dreaming. I believe I opened my eyes wider and wider until they actually opened and I was awake.
I dunno…I just cruise around until the scene eventually fades out, which–depending on what I’m doing–can be awhile…
The first two times I had a LD (many many years ago) I used the awareness to escape a nightmare. I did the eye clenching until you feel your eyelids IRL and open them.
Alternatively you can just command it.
Just say to yourself “I dont want to be here, wake up”, your eyes will open. Your subconscious does your bidding, its your slave. You give it an order and it will carry it out.
Ditto…That was what always happened to me…for some reason I would do that as soon as I realized I was dreaming. Now I just tell myself not to when I wan’t to have an LD.
I have heard it: the ultimate method is falling. If you are lucid but are tired of it and want to wake up, however, you are not strong enough to do that, just jump of somewhere and the falling will make you wake up.
Yes that works pretty well. Once I jumped from a building and wanted to fly just before I hit the ground…clearly I overestimated my flying skills. 
For me, all I have to do is have the slightest thought in my mind that I’m goin to wake up.
This can be even “Damn I’m having so much fun I dont want to wake up… Woudlnt want to wake up now” and then next thing I know I’m awake.