Possibly molested by brother

When I was younger (around 7), my 13 year old brother used to ask me to play "games" while my parents were gone. It was truth or dare, but without truths. He used to dare me to take off all my clothes and run naked through the house. One time he asked me to show him where I pee so I spread open my labia for him. One time he created a dare for himself to have the dog lick peanut butter off of his penis (which was erect) in front of me. Or there was another time when he asked if I wanted to feel his penis (erect) and I did. And sometimes, I would wake up from sleep without any covers and not wearing any clothes.

I knew it was wrong as a kid so I never told anyone. I've never talked with my brother about it since. I just wanted to get it off my chest. But I also want to ask, is this considered molesting? I did it voluntarily, but I was also really young.