Herpes is only infectious from the areas that are infected. If you have oral herpes, then you are only infectious from the mouth. If you have genital herpes, you are only infectious from the genitals.
Herpes doesn't infect or affect other body parts, like arms. You could have cuddled entirely naked and been fine, so long as there was no genital to genital contact.
Herpes is not transmitted via things like sheets. It dies quickly after being exposed to air, as do most STDs. ALL STDs require some form of sexual activity - oral, vaginal or anal sex.
Also, no STD will ever give you symptoms that quickly. It would be at least a couple of days, if not longer.