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Have you been charged with a criminal offense? If so, what? What is the status of your case? In which US state?
Did you sustain financial losses or physical injury as a result of their harassment? If not, you don't have the grounds for a suit. You may have grounds to get a restraining order to keep them from having further contact with you, if their actions made you fearful for your safety. You may even be able to get them charged criminally for harassment. But this incident, however embarrassing, does not rise to the level of a civil lawsuit.
Were you served with a restraining order? If not, there's no order in effect. BUT they have still put you on notice that they will get one if you have any further contact with them.
If we could all sue for whatever makes us mad or embarrassed, none of us would ever get out of court. But fortunately, we can't.
There is no restraining order against you, according to what you have told me. In order for a restraining order to be against you, you would have to be formally served with a copy of the order, and you have not been. What you have been told by these people, on the other hand, is that if you continue to contact these people, they will go and get a restraining order. That's a different matter.
They have put you on notice that they want you to leave them alone. If you go against that and contact them, then they can get a restraining order. Since you want no contact with them either, just leave them alone. You have no lawsuit here and if you ignore them, there should be no further issue.