Help plz

I’m on the pill but I’ve been late and have missed taking them this month. I took two pills today bc I missed one yesterday. And My boyfriend and I were having sex tonight and we used a condom but before he put it on, he stuck the tip of his penis in my vagina. He did this a few times and took it out and rubbed it along my vagina. But he never went fully in. Then he put the condom on and we did the deed. Should I be worried about the precum from the tip of his penis getting me pregnant?