Yes, go to the doctor but do not panic. The most common cause of blood from the penis is an infection in hte urethra or prostate. Even a low level (barely noticeable symptoms of burning during urination) can leave some spots that will bleed.
I had one patient who ejaculated pure blood. He had a rather well established prostatitis and had had symptoms that he ignored. A week of antibiotics (condom useage during treatment) and he was fine.
Do not minimize; do see a doctor.
Posted: 28 Sep 20:19