Is it normal to talk to your self like in your head? For a minute I was dozing and I kept feeling like I was saying my name nd try to ask s?

Likely. Yes, I think this is fairly common. Especially when you're falling asleep and/or in a lucid state as you describe. Even fully awake. .
This is very normal. At some point in his/her life, bascially everyone can say they have had a conservation with him/herself. It only becomes a problem when it's intrusive in your life, as in prevents or distracts you from being able to being able to complete tasks that would otherwise do without issue. .