Just had my first time; panicking

I've been on the pill for 2 weeks now, and me and my boyfriend were messing around and ended up having sex unexpectedly. We've dated for 3 months before, took a break and now we've been dating for 5 months. I love him so much. It was both of our first times and I didn't really plan on it happening it just did. We didn't have a condom. I missed a pill two days ago but my doctor who prescribed them said it was okay as long as I wasn't sexually active that day and took both pills the next day- which I wasn't and I did. So my birth control should be on track now. He didn't cum but we're almost gaurented that he had precum.
In essence, can you get pregnant if you're on the pill, don't use a condom but only precummed a little bit? And am I a whore since it happened unexpectedly? I'm the type to plan EVERYTHING out and the fact that it happened spontaneously is making me feel as if somethings wrong with me since I was the one who initiated it.
Please help with advice. 😞