So, pretty much the penis needs to be in her vagina to result in pregnancy. Sperm near the vagina does not get a woman pregnant. Sperm are smart but have to be directed. Realistically, what you write of does not pose a risk for pregnancy. But do buy some condoms as you are dangerously close to risking it and an unplanned pregnancy can upend your life. Be prepared. And respect the girls you are with. good luck