As per your history, a stray dog only licked your finger and there was no visible cut, scratch, or bleeding. If the skin was intact, this is considered Category I exposure and does not require rabies vaccination.
Since you have already completed a full course in the past and also taken boosters 2 years ago, you are previously vaccinated. In case of true exposure (bite/scratch with skin breach), only 2 booster doses (Day 0 and Day 3) are required, not full course and no rabies immunoglobulin.
In your present situation, if there is absolutely no wound or broken skin, no vaccine is required. Anxiety after reading about rabies is common, but based on what you described, risk is negligible.
Next Steps
Wash the area thoroughly with soap and running water (if not already done).
Observe for any unnoticed scratch or wound.
If no skin break is present, no vaccination is needed.
If any doubt about skin breach, consult nearby hospital for assessment and possible 2-dose booster schedule.
Health Tips
Rabies transmission requires saliva contact with broken skin or mucosa. Licking over intact skin does not transmit rabies. Avoid overthinking; monitor calmly. If anxiety persists, consult a physician for reassurance.