Can you get an STD from...?!

Hello. Early this morning, my boyfriend and I were cuddling and he was in his boxer briefs, I was in my jogging pants and shirt. It got warm because of all the body heat and warm blankets, so I can't tell if he had some precum that came through his briefs and may have gotten on the back of my jogging pants (we were spooning). I washed my bedding and the clothes I was wearing. Does the washing kill any sperms or germs or really any potential STD away? The only skin on skin contact was my arms around his upper torso and back. Is there anyway to contract an STD from just this kind of skin on skin contact, with no exposed genitals touching, or any genitals exposed for that matter? Also, he was coming down sick and so was I, so could we get cold sores, even if neither of us has ever had one? You need to contract the virus first, have a breakout, then infect somebody while you have a breakout, right? (generally, normally speaking). We are not having sex because we don't want to risk the chance of a pregnancy when we are not ready to make that kind of commitment (even though I am on birth control and we would use a condom, just in case we ever did.) I'm not sure I want to have sex with him right now due him having had 5 sexual partners in the past. He says he's clean, has never gotten any genital herpes/warts/any STD or cold sores for that fact, but I don't want to take any chances when we don't even know if we will be together for a long time. I just found out last night he's had 5 partners in the past, so could I get anything from him by just cuddling? And again, even if sperm got on my clothes, could I get something? Thank you for you time :)