I wouldn't call it gay, but it's not completely straight. It's still two dicks rubbing together

There gotta be some homoerotical reasons to do so. Me, as a hetero, doesnt like the idea of touching another guys cock, especially not with my own. I couldnt concentrate on the sex.

Only if you define it that way, much like anything else!

The short answer: No, probably not.

A longer answer: Well, maybe. It would depend entirely on the two guys involved, their true sexual orientations, their attitudes, their feelings and their emotional involvement with each other. These are a lot of variables so it's almost impossible to give a definative answer. If two straight guys are good buddies and they want to put their dicks together in the same pussy that could just be another form of male bonding that doesn't necessarily make them gay. Hell, they could put their dicks together without the pussy or even in each others' mouths and/or asses and still not be gay. A lot of straight men have gay sex just as a lot of gay men have straight sex. Sex is never simple. Now have I thoroughly confused you?