Hi, My Boyfriend And I Were With Each Other Last

Hi, my boyfriend and I were with each other last weekend and it ended Up with him NOT penetrating me but his penis was close to my vagina. He did something called pre cum but it wasn't a lot I don't believe and his last ejaculation was that Wednesday and he obviously has urinated since then. Should I 1, worry. 2, could I be pregnant and 3, should I take a pregnancy test. Thank you so much.