It's a good idea to get it checked out, but not for rabies. A kitten with rabies would die very quickly. They're so tiny that it would be quite fast, and an addition to that, would have likely died due to whatever hypothetically attacked them. If you can't get the idea out of your head, your parents could keep an eye on the kitten over the next few days, which would serve as a mini "quarantine" of sorts. That's generally what they do after a dog bite and are unsure of vaccination status.

Cat bites can get infected quite easily, so your doctor will probably want to give it a quick checkover. If progressively gets a lot worse quickly, hot to the touch, swollen, weeping, and discolouration within hours of the bite, not a bad idea to get it seen asap That being said, I've been bitten by plenty of cats and didn't even give it a second thought! Like you said, keep an eye on it and see how it goes