Is there ANY chance I could be pregnant?

Me and my boyfriend both had underwear and pretty thin pj pants on. With our clothes on he poked me with his thing on my when i was wet but we still had clothes on. Then he went to go releive himself in the bathroom and then he washed his hands. Later he rubbed me down there under my pj's, but my undies were still covering my . I told him about my worries and he told me not to worry because it's not like he got his sperm on my clothes, anc even if there was a tiny drop on his undies i doubt it could go past all four layers of our clothes together, but still, is there any chance I could be pregnant?