I dont see anything wrong with what you've done. Dance floor and party - you pulled a friend in, frankly your H is just making a mountain out of nothing. And like you said, if you were a doctor you would be touching patients. Its not like a touch kills or something! You can tone it down in front of him, if you think it will maintain peace, but I dont see anything wrong in what you've described thus far.
Why change your personality? Its who you are, you are a warm, friendly person. What is wrong with that? My husband's female cousins gives hugs to him and other male relations and sit close to them. None of us wives think that is wrong because that is the way they were brought up and we wives are also included in their hugs and warmth and made to feel part of their family. Its is lovely to be a warm person who welcomes people than a cold person standing on the side-line critically judging other people's actions.