I would disagree, that is what many people confuse astral projection with- lucid dreaming. They also think swimming arond in their subconscious is astral projection. It is not.
Accessing the collective unconscious is not accessing something within yourself, that is only within you, it is a shared experience and resides outside of the mind as well as inside.
Lucid dreaming helps in the consciousness control, but astral projection is about the attempt to contact external beings, not play around with internal manifestations of guilt and fear.