Hello,
From the symptoms it can be penile lentigo. It is a small, sharply circumscribed, pigmented macule surrounded by normal-appearing skin.
You cannot remove them at home. Cryosurgery using liquid nitrogen and laser are the main treatment modalities. Although there are many skin creams like hydroquinone and salicylic acid, but their use needs prescription .I would recommend a dermatologist’s consultation for this.
It is very difficult to precisely confirm a diagnosis without examination and investigations and the answer is based on the medical information provided. For exact diagnosis, you are requested to consult your doctor. I sincerely hope that helps. Take care and please do keep me posted on how you are doing.
May I also add that this happened after I masturbated while the skin was very dry, it rubbed I guess and burst a vessel it looks like.