Your carer's behaviour is not your responsibility and your therapist will have absolute clarity about that. If your therapist was uncomfortable about the interaction, it was her responsibility to manage it, not yours. After all, your carer is not in a therapeutic relationship with your therapist so their interactions are not boundaried in the same way. As others have said, it seems like your therapist was comfortable with it all, but it's definitely an opportunity to talk through the dynamics and associated emotional responsibilities.