Apply clothes washing soap (just take it in your finger) in these minor dents and rub the dented part with the finger/cloth and now use water and wash the dented/soap area when you feel that the rubbing done with the washing soap is enough and now your car looks pretty nice as new without the dents being invisible.
Using soap instead of compound. Good idea but it shouldn't make things worst. In-case the soap is aggressive. However, it only works if the scratch isn't deep or only the clear coat is scratched and some paint is still present.
White color cars has white primer and when scratched, it won't be much visible but the bumper would be black so when scratched, it will look ugly. Vice versa is for black cars, not a problem with bumper scratches but scratches on body will be more visible due to white primer.
Like ameyam said, matching com paint pen or a matching paint from car paint shop can be used to touch up. Once its dried, use rubbing compound to erase excess paint, polish to smooth en the paint and wax to protect. Though it won't be 100% perfect but should hide pretty much.
As of dent in the bumper, I'm sure it will come out. See if you can go behind the bumper and give it little push with a finger but don't hit it.
First time damages to our beloved car will hurt more and may also interrupt our sleep but worrying about things which is already happened makes no difference so be happy. I still remember when I had my first car (Tata Nano) and I hit its passenger side door to a tree when parking but I was still a beginner. Now I own a used Honda City which has dents and scratch all round made by previous owner but I don't mind it as long as car runs fine. When given to servicing, the service adviser takes 15 or more mins to note down all of them but I'ed say him, don't worry sir, even if you make another I don't mind or even notice.