No they can't get herpes from saliva. You had no risk.
I have been having aches down my legs and in my joints (knees and ankles) all day, so I am even more concerned that I might have contracted something.
Today, I am having lots of aches down my legs, and am beginning to wonder whether the advice on this site about protected blowjobs being no-risk is actually true. People can get oral herpes from the saliva on a glass but cannot get genital herpes from saliva directly from someone's mouth?
Seems mighty low risk. It's basically like kidding, right, except you had a condom on too.