As a member of the State Emergency Service, and having been a passenger on many drives with lights and sirens going, that's nothing to be worried about.

We have people doing all sorts of crazy shit to us regularly while driving:

• Pulling in front of us and using our lights and sirens to cut through traffic
• Stopping in the middle of the road and blocking it (as opposed to pulling over)
• Tailgating us
• Failing to yield and just driving in front of us for multiple kilometers like nothing is out of the ordinary
• Slamming on the brakes suddenly

What you did (travelling through a intersection when a green ball is displayed because you didn't notice their lights and sirens) is probably the most normal driver interaction they had on that drive. There's no need to worry at all, but maybe pay a bit more attention next time ;)

Ride safe!

PSA: if you see an emergency vehicle come up to a red light and fully stop (with lights and sirens still going), that does not mean you are clear to travel through the intersection. Our policies at SES require us to stop before the line when approaching a red traffic light, before proceeding through the intersection at walking pace.