There is NO possibly that you could get pregnancy - not from what you described.
Considering the fact that your vagina is completely inside your body, how was your boyfriend able to "lick" it? In order to "lick" it, he would have to stick his tongue into your vagina, and I doubt your boyfriend is creative enough to do that.
Yes, you and your boyfriend most certainly DID have sex! You engaged in oral sex, and oral sex IS having sex. "Having sex" doesn't just mean engaging in penetrative intercourse. There's more than one way to do it, and you and he engaged in one of them.