Hi there,
I'm an industrial chemist and can reassure you that you're fine. You would need to swallow anti-freeze to die. In terms of cancer, generally repeated exposures are what is a problem not a one off touching. Think of smoking. Smoking causes cancer but people are smoking many many times every day for years and years. And even then, only some of them get cancer.
Take care. If you find yourself worrying about things like this regularly consider seeing a doctor about anxiety.