From what you describe - no break in skin, no bleeding, only a pressure bump from his paw that is already settling - this is Category I contact and does not need rabies vaccine. Being a familiar, healthy, daily-fed dog makes the risk even lower. Your tetanus shot last week covers you. Savlon and hand wash were the right things to do. Watch the spot for 48 hours: if you notice a puncture point, spreading redness, warmth, pus or fever, then it becomes a wound infection and needs treatment.
Next Steps
No vaccine needed for this. Keep the area clean, apply an antiseptic once or twice daily, and observe the dog for 10 days. If a break in the skin appears or the swelling grows, get it seen the same day - you can consult me on Practo or at Synergy Multispeciality Hospital, Miraj.