From your description i agree with your Dr and wouldn't worry
I just returned, and she regarded them as hair bumps. I'm going to take her word for it, but at the same time, In going to be cautious and study my husband for any symptoms he may face.
I will always recomnend getting anything you're concerned about looked at by a dr or dermatologist.
From what I could see, they looked like brown blisters but I couldn't say for sure. Plus, like I said, they don't hurt or anything.
Do you have genital hsv? Herpes lesions are not hard bumps under the skin