How does one enter hypnagogic state because every time I try I always end up fully sleeping 
I can sometimes fall asleep when attempting that as well. But instead of getting upset, I mindfully feel gratitude that sleep must have been what I needed at the time and feel something beneficial still happened. But meditation, trance work, and so on will always be a work in progress. Sometimes I use guided meditation from headspace dot com. Other times, headphones with some binaural beats like recordings made with Hemi-sync by the Monroe Institute.
try this: Do whatever method you use right now, but this time have a beaded necklace in your hands and passively count the beads with your fingers. You want to be super relaxed, but at the same time not so inactive that your brain shuts down for sleep completely
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Research Hemi-Sync. Surprisingly very effective.