You will need to see the dermatologist in order to get a specific diagnosis. I can tell you that
penileCancer - penis warts are very often on the shaft itself. Since the doctor you saw didn't think they are warts, and you say they don't look the warts you have seen on line, then they are probably not warts. But again, you will have to wait to be examined to know for sure. Meantime, please don't pick or rub them, since that will make it harder for the dermatologist to tell what they are, when you get to be seen.
Best.
Dr. Rockoff