I’m so scared

I had a scare issue with this last month but didn’t learn my lesson and did it again. I had sex with my boyfriend without a condom. I’m on a combo birth control pill that I’ve been on for 4 years and take it on time every day or within the 2-3 hour time window every day, like I take it at 9 normally and last month I accidentally took it at 12 once and sometime this month I took it at 11 something on accident once.

Before we did anything I got him going and he wiped off his precum before we had sex, and he pulled out of me way before he finished.

So if I’ve been on birth control that I take on time every day and he wiped off his precum, then didn’t finish inside me, should I be panicking?? I just got off my period a few days before we had sex so I wasn’t in my fertile window but I’m still freaking out because there’s sperm in precum