Firstly - if it is of any comfort - I can truthfully say that I very much relate to your experience. I had a relationship with a 16/17-year-old girl when I was 21, four-and-a-half years older than her, which I now see as completely appropriate. I've spoken to the British police and they declined to arrest me so I'm trying at this point to just learn to live with myself as best I can.
But I still find it very difficult to be around children because I immediately feel it's 'wrong' or 'corrupt' somehow that I should be so, even though I logically know I don't pose a risk. For instance, a month or so ago my mum had a friend round who brought with her a 4-year-old foster child. To give my mum and her friend some space I was asked to look after / play with the young child for a short while. I obliged and showed them my old viewmaster and a few other toys and games from when I was young, but - even though it was relaxing and fun being in the company of a little kid, which isn't something I'd gotten to do outside of a general crowd in a street or supermarket for years - I felt very guilty and self-aware and afterwards pretty overwhelmed with anxiety, even though I'd been doing a favour, rather than having had any particular desire to spend time with a little kid in the first place!
I think this is due to internalising stereotypical images of the "child abuser" and then applying it to one's self-image. I don't know if you have been diagnosed with OCD or if it is something that has even come up, but I certainly find that having OCD drastically increases the amount such thoughts dominate my mind.
At the end of the day though, you know you aren't a paedophile and pose no danger. Also, you performed your behaviour (which was not necessarily abusive) when you were still a young child. It would be unfair and unjust for you to be judged now as an adult by the actions taken as a child. Moreover, you'd never dream of judging another 12-year-old kid as harshly as you judge yourself.
Please try to remind yourself of these things and believe them. If CG thinks you are being too harsh on yourself and that you shouldn't have to self-regard as 'child abuser' or 'paedophile' then that's a good indication that you're not since she has a lot of integrity and takes abuse very seriously.
Be in peace as best you can