I think this would be a fantasy of many peoples. Whether they go ahead and act it out or it just stays as that - a fantasy, is something I myself probably wouldn't have the guts to do. But as Daoust said, who are you hurting? Are you in any sort of relationship to make you have this guilt? If you're not, why should you feel guilty? You were, from what you've said above, very responsible and rational about it. If that's your thing and you're not hurting anyone and you're being protected, you have nothing to feel guilty about.
If on the flip side, you're feeling really down and just want to feel loved, then this is not going to fill an empty void. In the interim of course it will. But really, just enjoy the experience for what it is and don't read anything into it. Any bet that's what the guys did.
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ciao bella!
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