that is fine, just dry off carefully (this is why you have to change towels frequently) and I would spot apply some salicylic acid, for me it dries a pimple faster then BP does. After that is dry just go through your normal routine.

The big no no is picking, squeezing, constant touching...this is all together different.

You shouldn't really be 'rubbing' hard enough to take the head off a spot. I would say try to be more gentle when you cleanse, barely even touching your skin, just move the cleanser around. Prematurely removing the head off a spot will just cause it to become irritated and you will spread the acne bacteria around your face as you cleanse.

Admittedly, I used to do this purposely. I would wash with extremely hot water and scrub my face as hard as I could to take off the whiteheads. Not a good idea. My acne was at its worst, until I started being gentle and only using tepid water.