the lab you used created "machine" prints, with little or no manual intervention. no problem with this, in most cases average scenes of light and dark with an average mix of colors will print pretty well. all automatic color printing equipment assume an average mix of color and average range of lights to darks.
You say two things. In simple terms, the print showed warmer colors than you remember and the prints were darker than you remember the scene.
the sensors in the printing equipment read your "abnormal" negative, i.e., bluer or cooler than average and lighter than average and compensated to make it average by warming up the color balance and giving too much exposure to your negative.
there are 5 ways around the problem:
1. as Gary suggests, shoot slides so the lab can't misinterpet your negative.
2. find another lab which will print closer to what you want. (ironically, they may print some of your pictures taken under different lighting conditions "worse" than the original lab)
3. pick your good negatives and have them printed manually. (fairly expensive)
4. set up a darkroom and print the negatives yourself. (you then have total control of the way the print looks)
5. scan your negatives and print them on a good color printer.