Any time you have unprotected sex and the guy comes in you, the possibility of you being pregnant is there. Even if the guy hadnt fully come in you(say he pulled out) there is still precum. Even just a small droplet of precum contains like over 1million of his "little soldiers". Just because you didnt get pregnant the first time doesnt mean that it wont happen. Im sure you realize this and it probably sounds cliche but to some girls it doesnt really click until they get pregnant. So, to answer your question, yes, there is a possibility.
Honestly, if you dont want to get pregnant or you dont want to get caught please, use some form of protection or just stop having sex altogether. Protection doesnt always work, I know, but atleast you tried to prevent it. And if you do choose continue to have unprotected sex, just know the consequences and the possibilities.