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.