Do I have to go to a police station to get booked on a later day then when I was detained and charged?

I was recently detained for possession of a controlled substance. The officers told me I would receive a summons in the mail and that I could go home. Then the office when asking me questions never really read me my rights before questioning what I might have been carrying on me that night. The substance at some point had fallen out of my pocket and they saw it on camera. They told me to truthful and I told them what it could have been. They took my license and address and said they wouldn't be arresting me and I would be able to go home and receive a summons for the preliminary hearing at a later date. The officer later called me the next day and left a message saying that I still need to come down to the station and get booked and processed, I was being completely honest and cooperative with the officers because they told me they wouldn't arrest me if I was cooperative. My question is do I have to go back to the state to get booked and processed? It happened in PA I'm from NJ.