Run the all ports choice and if they are all green (stealthed) you are fine, you're not answering any pings.
Also, your router log shows it was detected and blocked. It's typical to see a lot of stuff in your router log get blocked. It's just doing it's job. If you don't want to see it, you should be able to filter out those messages.
UDP = User Datagram Protocol. Its basically what VOIP uses, or any streaming media. If you block ICMP your router wont respond to ping requests