Precum can also make you pregnant. It's always better to be safe than sorry. Next time make sure you're on the pill or use a condom. If you do have sex without protection, make sure to get the morning after pill.
There is a possibility, but hopefully you are not. We keep doing it without protection from a year or so, but never got into "trouble". He takes out in time and also he hasn't has much precum in general. Next time use protection...better to be sure.