You do not have any risk of rabies from this situation.
This type of indirect, casual contact cannot transmit the virus.
Rabies spreads only when fresh saliva or nervous-system tissue from a rabid animal enters the body through a bite, deep scratch, or open wound / mucosa.
Touching objects (bed, clothes, floor, surfaces) that a dog sat on does not transmit rabies.
Even if the dog had saliva on the bed, once saliva is exposed to air, the rabies virus becomes inactive within minutes.
Wearing clothes that touched the bed or eating after touching the bed without any wound also carries zero risk.
No bite, no scratch, no lick on a wound, no saliva into eyes/nose/mouth = No exposure.
Your situation is completely safe, and no vaccine or treatment is needed.
Health Tips
Your anxiety is understandable, but medically, you are fully protected this is not how rabies spreads.
Good luck!