Will Penis Glans And Meatus Patches With Pain Heal Without Medication?

A few days ago, I was sexually excited and had the urge to masturbate. I slipped my hands into my shorts and started rubbing my penis without any lubrication. The fabric of my shorts was quite rough and I felt a little pain when my meatus and glans were rubbing against it but I chose to ignore this. The next day, I notices red patches at these places (two small ones at the meatus and one large patch at the base of the glans). These are painful when touched. Are these friction burns? I ve been washing the affected areas with fresh, cold water after urination. Will these heal on their own or do need to seek medical help?