Am I overreacting

Can you get pregnant if your boyfriend rubs/humps your genitals with his penis? There was no penetration. He did put the tip to my vaginal opening but never penetrated. He made sure there was no precum. He never ejaculated either. I am on birth control and have been for two months. I'm pretty sure I'm in the safe zone, but I always worry. Thank you, ladies! I'm always paranoid