Like has been said if the numbers work it doesnt matter. Asking price is arbitrary right, it's worth what the market dictates and if it meets the numbers then it's a good deal. My guess is if others were offering cash above asking than it's a good deal!!
And look at it this way, if you had paid $5k below you might feel better but realistically a $10k difference is like a 2percent difference and is really insignificant in the life of the property. You may not have gotten the absolute best deal but you cant let that get in your head and play mind games.
The last two houses I bid on were foreclosures that needed alot of work. I bid a few k above asking on both and won both bids because I knew I was competing with cash and felt that at the price I offered I was still well below what I needed to make the numbers work. I'm still pretty new so I'm not saying this will work perfectly or is smart as I'm not certain yet but I tend to feel when your starting out and are competing with cash (which it seems to me you normally are on good deals) then sometimes we arent in position to get the absolute best deal and just have to make it work.
Anyway, second guessing is normal but dont overthink it. And congrats!!