From the sound of it, you both did great with that situation.
Have you taught him the 'focus' or 'watch me' command? I would work with him on that with a few subtle distractions, then once you think he's ready, if you come across a barking dog (fenced, maybe the same ones), try and get him to focus on you and not the other dogs.
Other than that, so far, so good it sounds like!
Ozzy - Chocolate Pom
-Fastest 2012/2013 U-FLI Pomeranian
"In a perfect world, every dog would have a home and every home would have a dog."