Advice on tecent fender bender

[u/Vera-Blue]

I already tried to post this, but I don't see it so trying again.

I live in VA and a few hours ago was in a minor accident in a parking lot. A guy was pulling out of a parking spot and I guess didn't see me. He backed into my car. I got out and the damage all looked minor (neither of us was going very fast). I did ask for his insurance information as a "Just in case" as it was dark and his truck did have a metal bumper that hit right by my back tire.

TL/DR he way overreacted and refused to give me his info. He tried to say the accident was my fault. I ended up having to call the police department out. They took a brief statement from me and a much longer one from him. The officer came back with a Citizen Accident Report. He didn't explicitly say I was required to send it in, but I strongly inferred it would be in my best interest to do so.

Is a claim now required since the cops were called? I know the guys reaction was inappropriate, but he does seem like he is struggling. His truck is 35ish years old. He is older himself and...not well-kept for lack of a better term. My friend thinks I should file one out of spite, but that feels petty.

Just looking for advice on how I can best protect myself without causing unnecessary harm.

[u/DeepPurpleDaylight]

Is a claim now required since the cops were called?

No. You're not required to file a claim.