Okay, well within 24 hours you got your dog seen by the vet, and the vet checked and found no injury on your dog, no bites etc. It IS possible for rabies to be transmitted via saliva if saliva from an infected animal got into eyes, nose, mouth or a wound.
I guess you did mention your worries to the vet? And what did she say about any risk?
My feeling is you will not be relaxed until you are sure. So call her on the telephone. Find a time when she can speak to you for a few minutes, and ask her for advice if you haven't already done that.
The chances are probably slim. In order to contract rabies, your dog would have had to be in direct contact -not just with an animal, but with one that had rabies.
But please do speak with your vet.
Is your dog vaccinated for rabies, and are the shots up to date? If so you probably have nothing to worry about -but do check to be 100% sure.