Should I be concerned?!?!? Could this lead to pregnancy

I’m 17 and haven’t had penetrated sex in 4 months. My boyfriend and I last week we’re fooling around abit. I had thin shorts and a thong on and he had boxer/shorts on. I was on top of him for like no more then 4 min. Half the time we weren’t even grinding just making out. I grinder on him for like a min at most. He was being funny and poked me down there a few times aswell. He didn’t ejaculate bc we did oral later on and he did then so he didn’t ejaculate while I was on him, but while I was on top of him there could have been some precum. I was just worried like when he poked me down there I know I shouldn’t be worried but I have really bad anxiety and just needed some reassurance from others who are more sexually active then I personally am. Thank you