No, this can't be herpes - it requires direct, unclothed skin to skin contact - oral to genital, genital to genital or genital to anal.
Did you use any oil with the massage? Perhaps you have a clogged oil gland or an infected hair follicle something. Keep an eye on it, looking for any redness or swelling, or if the area gets warm. I wouldn't be worried at all. You had no risk for any STIs, including herpes, and should be fine.