I agree. Your skin touching a few times isn't really enough contact to transmit anything. Infections like herpes, HPV and syphilis can transmit with skin-to-skin contact, but usually require some rubbing and friction. Brief touches aren't going to transmit anything.
Using a condom totally protects you from HIV, gonorrhea, chlamydia, hep B, hep C and trich. Hep C is rarely spread sexually. There is a vaccine available for hep B. You may have already had it as a child. As your doctor for a test that determines if you have immunity to it. If you don't, you can get vaccinated.