I'm so stressed😭

It was day 3 or 4 of my last period which was last month. I touched my boyfriends penis and tossed him off for like 1 or 2 mins while we kissed but he says he didn't CUM and says he didn't PRE CUM either, I also didn't see anything in my hand, my hand just felt sweaty but I think this was from the movement of the penis....About 2/3 hours later when he went home I went to the toilet and touched myself forgetting that I had touched his penis earlier on. If he didn't cum or pre ejaculate am I safe from pregnancy? This may seem like a troll but I promise it is not, I'm just an extreme worrier and it's my birthday Friday and I really don't wanna have to stress CAN SOMEONE TELL ME IF PREGNANCY IS POSSIBLE/DEFO NOT FROM THIS AND HOW A PREGNANCY OCCURS FOR SURE? Google has messed with my brain! ;(