It
take intercourse, i.e. penetration.
Even then, most STDs are not easily transmitted. For example, for herpes, when one person in a monogamous couples has HSV2, if they avoid sex when obvious outbreaks are present, the average transmission rate is once for ever 1,000 episodes of unprotected vaginal sex.
Could HSV be transmitted from the exposure you had? Probably yes. But with such a low chance that you can safely ignore it.