Can I get DUI or summons to court after cop let me go and did not do sobriety test or breath test or written citation?

I was sitting in car after bar closed with a friend listening to music very loud. I was tipsy. The car was in parked position. My friend was in passenger seat. Cop pulled behind car and questioned me about drinking. I admitted to drinking as I didn't want to lie. He took both of our drivers licenses back to his car. He had me get out of the car, talked to me and told me it was wrong to be sitting in car even if I'm not driving. He did not do breath test OR any sobriety testing. I did NOT refuse tests. The cop simply did not do them. He did not give me a written warning but told me to find a ride to take me home. He gave our license back. Can I still get summoned to court? I am SO scared. I admitted to drinking because I didn't want to lie and he asked me if I should be driving; I told him no because I don't believe anyone should be driving under the influence, that's part of why I was sitting there. Am I going to get summoned? I am so scared and definitely learned my lesson.