WELCOME TO HCM.
What you have described is absolutely nothing serious. No clinical importance. The condition is called as Pearly White Penile Papules or Hisutes papilaris glandis. It is just a outer projection of normal dermal pappila following the friction of your foreskin over glans penis
following some type of sexual act (Masturbation
or intra-vaginal insertion. It will remain for ever. No treatment is neccessary. It will not do any harm for you or your sex partner.
Totally harmless. Dr S/M