feeling horrible about not properly saying bye to my bf

bf came in quickly to drop off a drink for my coworker and i, he put them on the table, we said thankyou and he left saying he was in a rush, i wanted to hug/kiss him bye but before i could he left. i feel horrible that i didnt ask him to stay a second so i could kiss him. i told him how i wanted to kiss him and how thankful i was over message and he completeley understands but i still feel awful and like i didnt put enough effort in. what do i do?