Caught Shoplifting - Will I Have to Go to Court or Have a Record

My question involves criminal law for the state of: WASHINGTON

I was caught shoplifting on wednesday at Nordstroms. I'm a 20 year old guy.
I am deeply ashamed of my actions and know there is no excuse for my idiotic behavior. I was with my bestfriend, he has shoplifted since he was a kid and been caught once at a college bookstore over a year ago but they let him go. He taught me how to shoplift and I had done it with him a few times before the incident that happened on wednesday. We had lifted from a few other stores in the mall before going to nordstroms, we put a couple tank tops in my backpack.
When we walked out undercover LP ran to me and told me to come back into the store, I was fully cooperative, they took me into the backroom and thanked me for being so cooperative. Since we had put the merch in my bag it was only me who was brought to the security room.
The LP were very polite, they asked where I learned to shoplfit and I told them, they said I seemed like a smart guy who was hanging out with the wrong crowd. They added up the total of the Nordstroms merchandise which was $54 and took a picture of me and the merch. They took the merch from the other stores out of my backpack, asked if I had shoplifted all of it and I was honest.
They said they would not be calling the police. They had me sign a trespassing from saying i was banned from all Nordstroms for 2 years, and that I may or may not receive a civil demand in the mail.

I've been looking at other shoplifting threads and it seems you usually have a courtdate and a misdemeanor on your record, I'm scared I don't want to go to court or have a record, the LP never said anything about a court date, is it likely I'll have to go to court?

No. But when you get the civil demand pay it. All of it. Right away.
And lose the loser who taught you to be a thief. He's not going to change, but you can.