Dogs die from rabies, not from biting humans.
If your dog has a current rabies vaccination he doesn't have rabies and neither do you. Even if his vaccination isn't current, if the bite didn't break the skin, you don't have rabies.
As far as I know, they don't get over or survive rabies. It is extremely important that your dogs are currently vaccinated against it. Are your dogs all current with their rabies vaccination??? A bit is no fun under any circumstance....but neither is a kick. Sounds like you took care of the "mark" with washing it with soap and water...I'm not sure of the garlic. An antibiotic ointment might have been better. I would have the dogs checked out by the vet.