All I did was poke his penis.
Before you have sex you should get more sex education.
Precum is pre semen. Just like when a woman gets sexually aroused so does a man. This happens so there will be lubrication so a couple can have intercourse.
I can't give you an exact answer as to how long sperm lives outside of the body. I've read that it can be 5 minutes to an hour. I question the hour because sperm needs a moist environment to survive. At an hour it would be dry and dead.
No, you could not have gotten pregnant by what happened.