Lucid dream

All dream are not true

Dreams are just something that appears when you`re sleeping but when you`re awake and still hear voices then you need to consult a psychiatrist to help you out with that because it`s a sickness called Schizophrenia

Lucid dreaming is perfectly real. Not everyone can do it, so don't worry if you can't. It's really a variety of day-dreaming, where one is just regaining consciousness after the dream and the mind is able to hold onto the situation in the dream and (to a certain extent) 'control' what happens in the dream. If you are hearing 'annoying voices', you should probably see a doctor.

Seeing swirling colors or hearing noises (sometimes voices) are perfectly normal during the hypnogogic stage of the sleep cycle. If you can maintain awareness through that you may well find yourself in a lucid dream. So that is a good sign for you. :-)

I don't think we can control our dreams

We have no power of controlling our dreams nor changing it.