No. 3 seconds isn't much time, and herpes usually needs some friction to transmit.
Have you ever tested for hsv1? 67% of people under 50 globally have it - and 90% of them will never have symptoms - so you could already have it and not know. If you have it already, you don't need to worry about getting it genitally. It's possible, but as long as you don't get exposed to an active outbreak, you really don't need to worry.