Hi if the cat didn't bite you or if the saliva was dried out you can't get it. The animal's saliva has to be wet and get in a wound or open sore, in the eyes, mouth or nose. See below from the Centers for Disease Control or CDC:
People usually get rabies from the bite of a rabid animal. It is also possible, but quite rare, that people may get rabies if infectious material from a rabid animal, such as saliva, gets directly into their eyes, nose, mouth, or a wound.
Scratches, abrasions, open wounds, or mucous membranes contaminated with saliva or other potentially infectious material (such as brain tissue) from a rabid animal constitute non-bite exposures.
Occasionally reports of non-bite exposure are such that postexposure prophylaxis is given.
https://www.cdc.gov/rabies/transmission/index.html
regards,
mkh9