You probably don't have herpes but you should get those "pimples" checked since they are causing you some much distress. They could be just moles.
How long have you been seeing those "pimples" on your penis? And the one on the bottom of your lip?
It is a possibility that you could have herpes simplex and not know because it is so common. Sometimes adults kiss babies and children and unwittingly pass on the disease.
So please go to your doctor and have him/her check them out/get tested. If you have a dermatologist you should also have him/her check you out.