When it comes to improvising, there are no absolute rules about how you need to play. Artistic interpretation is the name of the game. I don’t say that to simply excuse the need for progress!
The most powerful tool you have to improve your own style is your own ear, and the best way to utilize that tool is to record yourself soloing, then put your guitar down, and have a listen.
Think about what you hear – is it on the beat? Does it feel sloppy, rushed, too slow? Sometimes a sloppy phrase can be intentional, but is that what you are actually intending to do, or was it a mistake?
The goal here is to learn as much as possible from our own mistakes, take that feedback, and funnel it back into our guitar playing to make it even better.