Sounds pretty normal to me. I used to play with my brother's testicles in the bath and even had names for them. The intent was definitely not sexual. You are pretty innocent at that age. It would be different if you were an adult and you were kissing your infant sisters butt, because you would be knowledgable about sex, and there would be a big power differential.
I don't know if you get aroused by the thought of sex with kids or you just have the thought. People get aroused by all sort of sexual images. But arousal is very different from desire. I might look at two cartoon people having sex and be aroused, but that doesn't mean I want to fuck an anime. Just because you have a memory of something innocent you did as a child doesnt mean you would act it out now or are a pedophile.
If you keep having intrusive thoughts despite reassuring yourself about things, and you are distressed by the thoughts, then maybe see a psychologist.
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