5 year rash on penis.

I noticed the rash 3 days after the first time i had had sex. I used a condom at that time. I went to the doctor who advised me to go to the clinic where they told me it could be some irritation and i should not worry about it. The problem is that the rash is still there. It has no grown worse but neither has it grown better. The rash is made up of very small pimples under the shaft of my penis. most may be 0.3mm with the largest being 1mm. If I do not stretch the skin, it would not be visible. Inside my fore skin the rash is located in 3 clusters. In all cases the rash is the same color as the skin. The rash gives me no problems. I do not notice it but i would like to know what it is. Also there is a very fine rash on my glans (glands). may be 100 pimples of diameter 0.05mm. It is near the edge so my glans (glands) feels smooth on the tip but rough at the edge. Should i be worried.