Get the sound of them in your head and it'll be natural for you to stick odd notes in your solos here and there.
Great idea but that can take a bit of time!
If you can't be bothered with modes, which is a bad thing to say but is true in a lot of people's cases, try this kind of stuff:
1. Instead of switching on autopilot when it comes to noodling stuff, in your bedroom at least, sit back and tell yourself not to play those licks. Sing lines in your head that you would like to be able to play - simple blues stuff especially - then try and play them. If you find you forget them when it comes to playing them, sing them out loud first!
2. Whilst not on autopilot, if you run out of ideas in your head, try skipping strings in your familiar 'boxes', or even chucking in notes that you've never played before. This'll sound cr@p 9 times out of 10, but some of the best set (-ish) licks I've got have resulted from me making mistakes or delibrately going where I've never gone before.
3. When playing live, unless you're confident enough to play as Mark suggested ^, ignore all of the above and play on autopilot or you'll f@ck up!
Hope this helps.