Fresh saliva from a Rabid animal to the eyes, nose, mouth or into a fresh break in the skin constitutes a rabies exposure. Rabid dogs act strangely like unusually aggressive or unsteady. This scenario you mentioned technically is of exposure, but Transmission through small airborne droplets without a direct lick or bite is extremely rare. Most human get rabies from direct bites. The rabies virus is fragile and dies quickly when exposed to air, sunlight, or drying. For an infection to occur the saliva must be fresh and moist.
Next Steps
If you can safely see the dog again, monitor it. If it is still alive and healthy 10 days after the incident, it was not capable of spreading rabies when it barked at you.