They definitely did, and this is not a conjecture of mine, but something occasionally commented on and made fun of by poets and other writers alike. Fernand Esquío, Galician writer from the XIII century, wrote a cantiga that mentions giving a nun "four dicks from France" (quatro caralhos de França) from a noble lady friend of his.
Original text:
A vós, dona abadessa,
de min, Don Fernand'Esquío,
estas doas vos envío,
porque sei que sodes essa
dona que as merecedes:
quatro caralhos franceses,
e dous aa prioressa.
Translation:
To you, lady abbess,
From me Fernand'Esquío
this presents I send
for I know you are such
a lady that so deserves
four dicks from France
and two for the prioress.

Fray Antonio de Guevara, in the XVI century, writes in one of his letters to a friend of his about what a stupid and unhygienic thing is to kiss someone else's hand:
Because we may use our hands to scratch our rashes, to pick our noses, to eat food with them, to wipe our snot, and more things that are not gentlemanly to mention
Sources for the quotes:
Guevara, Fray Antonio de, Epístolas familiares y escogidas, Biblioteca Clásica Española, 1886. Part II, epistle 1.
Cantigas de Escarnio e maldizer, edition by Fernando Peixoto, Livraria classica, 1971.