Silly question

My boyfriend and I have recently started doing more sexual things together, not full on sex just rubbing our bodies together, that’s all. My stupid question is, if I’m just in my underwear and he is in shorts and boxers, can anything get in and potentially get me pregnant? Yes he has cum. I am on birth control and stuff but I just have anxiety and tend to over think things more than I should. Advice would be super nice! Thank you so much 😊😊