What you describe is in no way suggestive of genital herpes. The location and characteristics of the bump you describe and associated symptoms are most compatible with a vulvar cyst. These are benign, non-infectious processes which can come and go and tend to cause no particular discomfort. Alternatively, it could indeed be folliculitis (a hair bump). Neither a cyst nor folliculitis is an STD. In addition, either way, for you to pick at it is absolutely the wrong thing to do. This could lead to infection and much discomfort. You have a reason to go to get checked out (see below). At that time, ask the health care professional to take a look but, until then, please do not pick.
Your symptoms of milky white vaginal discharge and vaginal itching are not normal these could be symptoms of any number of infectious processes, some of which are STDs (trichomonas, chlamydia, gonorrhea) and some of which are not (bacterial vaginosis, yeast). the only proper way to get this sorted out is to go get checked out by a health care professional.
Hope this helps. Don't worry about herpes but your problems do warrant a visit to a health care provider. EWH