The needle stays inside the 7.2mg pen and only extends once the pen is pressed firmly against your skin. The yellow bar shows how much of your dose is still to be delivered, so keep steady, firm pressure the whole way through. If you lift too soon, before the bar stops moving, you risk not getting your complete dose.
A small drop of medicine on the skin afterwards can happen occasionally, but a noticeable squirt, or medicine pooling on the skin, means you may not have received the full dose. If that happens, don't inject again. Next time, apply firm, steady pressure throughout the injection to make sure the dose is properly delivered. If it keeps happening, contact your clinical team.