rabies would not even be on my mind in this case. this is your dog and he is vaccinated. Rabbies is a concern when you get bitten by an unknown animal, especially when the bite is unprovoked...
in this case i would just wash the area thoroughly and keep an eye on it.
Monkey and Amy (cats)
“Dogs believe they are human. Cats believe they are God.”
"The average dog is a nicer person than the average person."