Unless you agreed to a contract, or someone representing you agreed on your behalf, you are not bound by it. However, not all contracts have to be in writing. If you orally agreed not to solicit these customers for a period of time, that may be enforceable. Moreover, such an agreement can sometimes be implied. For example, if you were offered a $10,000 bonus if you agreed not to solicit these clients, and then, although you did not expressly agree, you took the $10,000, your agreement could be implied. Also, even without an agreement, you cannot use your former employer's trade secrets to compete with it, and in some cases the names of customers and other information about them (the prices they've paid, the contact people, etc.), if it is not publicly available information, could be considered trade secrets. In this case, since you've worked with these customers for years and probably rely on your memory (as opposed to your former employer's confidential customer list), in your dealings with them, the information will probably not be considered a trade secret.
All of which is to say that you probably have no obligation not to solicit these clients, but I can't give you an absolutely definitive answer from the little you've written. Also, sad to say, but being right is no guaranty that you won't be sued, and if you are you will probably have to bear your own attorneys' fees, even if you win....
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