You are the only one who would know if your penis actually went in. And if it did, that is a risk and you will need to test at 28 days with the Duo test. But if he just rubbed and pressed, that is not a risk. You have similar posts with the same kind of sex and am pretty sure you've heard all this before. You get HIV from unprotected vaginal or anal sex (penetration/ inside the body) and sharing IV drug needles. You describe this guy as a low risk person to be with. Doubtful you got HIV. But you can talk to your doctor about it. No one here knows the guy or you and pep is not something I'd ever take unless it was an unquestionable high risk. Between you and your doctor. Buy some condoms.
You have to make that call about getting PEP, but you only have 3 days from the encounter to start it. Any unprotected penetration is a risk. Can you get him to test? A duo is conclusive after 28 days.