I didn't feel his precum on my hands

Okay, so... Me and my boyfriend were in the backseat of my car, my mom was driving. It was night so, me and him cuddled up. He had a *****, and he started rubbing my hand/fingerson it... It was warm, and I think wet. Anyways, we stopped at a gas station. We ran in there, and then I went back and held the door open for my Mom. Then, I went to the bathroom, took my phoneout of my pocket. Looked in the mirror quickly, and took off my Semi-wet pants(from water that leaked), and fingered myself for Afew seconds. Not much... Apparently, he precummed ALOT, from what he said. But, after I brought the issue up, he said he didn't, or might have "A little," I think it was to get me to stop worrying. But, were I touched his precum, threw his boxers&jeans... Then, after doing all that stuff, get pregnant? When I was in the bathroom, I didn't feel his precum on my hands. I could only feel it on his pants when I was touching him, not actually on my fingers, or hands. So, could I??