Ok, what you are looking at in this picture are simple papules.
These are pearly penile papules, small in size (approximately 1-2 mm) and they look just like pimples, but are not pimples.
They are actually tiny glands, and you shouldn't pick at them. They occur around the margin of the penis head/shaft of the penis, and can be seen when the foreskin is pulled back. They usually develop in teenage years, but may occur up to the age of 40. They are visible in some men, while in others are less noticeable. Around 10% of men is affected by pearly penile papules.
They usually resolve over time and really nothing can be done to help this. However, on the foreskin, these 'fluid filled' pimples do not sound normal. I would have to advise having these 2 conditions examined by your Physician for a clear cut diagnosis.
These papules (if that is indeed what they are) are harmless, but the filled pimples are not. You might need to be checked for STD's or other skin condition -possibly bacterial issue.
Hope this helps! Reply if needed