pull out on the pill nervous?

okay so i’m on the pill and I take it perfectly I haven’t even been 10 minutes late. my boyfriend and I usually use condoms cause I like the extra protection but we wanted to try without condoms for the first time on saturday and we ended up doing it like 3 times without a condom... he pulled out at the right time I think (??? idk how to tell if he did it right) like I saw him finish and saw the semen (sorry gross) but i’m nervous some got inside of me. like I said, I take the pill perfectly and I plan to go back to using condoms regularly again cause I keep getting nervous. should I be okay?