POCD and Guilt

This is my first post on here and this is very hard for me to talk about and admit, but I finally confessed this to my best friend and her support gave me the courage to finally ask people who really know about OCD and have similar experiences to tell me if what I did has to do with POCD or if I should be worried about actually being a pedophile.

First, some background. I was diagnosed with OCD (with the theme of harming people I care about) when I was in high school. I went through CBT for it and it helped a great deal until I turned 19 and I started working with a little boy as a nanny and developed POCD. I had unwanted thoughts about touching him, and I had a hard time helping him change or go to the bathroom. I also got terrifying groinal responses and feelings of arousal. I know through research that all of that is typical of POCD and I was sure that was what it was and I could deal with it.

Until one day about 5 years ago, when I was around 22 years old. I was watching him and had an intrusive thought that caused a groinal response. I was really disturbed by it and I wanted it to go away. I was under a blanket on the couch and he was playing across the room. I made sure he wasn't looking at me and I was completely covered by the blanket, and I took a jacket and rubbed it on myself (over my clothes) for a few seconds to "get rid of" the feeling. I was immediately consumed with guilt because he was in the room with me when I did this, although I know he didn't see and couldn't have known what I did. I have obsessed about this for years and have become convinced it means I really am a pedophile because I "acted on" a thought. It's so scary for me to admit this and I suppose I just want to know if it's still possible that I have POCD (which I still struggle with but not in the same capacity) or if I have deeper issues that need to be addressed. Thank you in advance.