failure to yeild EM vehical??

I live in Minnesota and was with my husband coming to a highway split- I noticed cop lights in my mirror for a second looked at my speed then looked back in the mirror- he was gone?? Looked around and seen him in the third lane thought he was taking the left exit he came in to the middle lane next to me & I pulled off the highway right at an exit ramp- he flew behind me and took off up the exit- with no sirens- (if he was behind me in the right lane I could of clearly seen him and not even hesitated to pull over)and then called me at home at 11pm that night this was around 10pm & said I failed to pull over for him- I told him I didn't know what was going on He said I saw him a quarter mile back and should of pulled over- I told him I didn't even know where he was and when I seen him in the 3rd lane- I was in the far right I thought he was taking the left exit- and when he shot to the second lane between the two cars that were next to me is when I said OH CHIT and pulled off the road and he flew up the exit ramp- He said he was sending me a ticket for failure to yeild to an emergency vehical & thanked me for being so polite about all this?? Should I fight this in court or just shut up and pay it?? 20 years of driving this is my first ticket and I feel that I am sorry I didn't pull over the second I seen the light but with in 15 seconds I did pull over- I did the best I could- oh yea he did send me the ticket 140 dollar fine- please adivse- thanks