There is no risk of rabies in this situation , rabies virus is transmitted only through bites , scratches and saliva entering wounds and contact with mucous membranes. You should only be concerned if there is open wound in that part . The rabies vaccine however gives protection for about 3 years .
Next Steps
Just observe the animal for signs of rabies for 8-10 days
Health Tips
If you are in constant contact with animals you must require boosters in 3-5 years