My boyfriend came and cleaned up with a cloth he didnt get any semen on his hands afterwards he adjusted his penis and fingered me can i get pregnant?

Unlikely: There is a very very small probability that he still had semen on his hands even though it may not have appeared that he got some on his hands. I wouldn't be as concerned about this particular incident, in the future, exercise great caution and safe measures when being involved in sexual intercourse activities. But it is possible, however, unlikely.