Left my headlights on, but car battery didn't die. Will it die soon?

I left my headlights on while the car was off for about 30 minutes. The car still turned on, I took a 10 minute drive, and turned it off then on again just to see if it still works, and it worked.
It's a 2012 Honda Civic, and it once died about a year ago when I left the headlights on for 20 minutes then I had to jump it. So I'm worried that my battery DIDN'T die this time, because I don't want it to randomly die on me sometime tomorrow.
Will my battery die soon, and what should I do?

It's fine, no harm done.

As long as the car starts, and the alternator is working properly, the battery will recharge in a few minutes. If the alternator isn't working properly, THAT is what will drain the battery.

It should be okay. The conventional wisdom is the battery is damaged if it drops below 10V, but in my experience the duration of that very low voltage is important. If the battery has drained low enough to need a jump, it has been depleted for a while and it will lose significant life. Otherwise you are good.

30 minutes is not a long time. It's the people who leave them on overnight who are screwed. If it seems OK, it probably is. This would be a bigger problem for an older battery that was on its way out anyway. I remember my last car, it was running perfectly, then I had to leave my hazards on for 15-20 minutes, and it killed my battery.

And sounds like the next time you buy a car, be sure it has the feature that automatically turns lights off before the battery discharges. Most Ford products do that.

Drive the car for an hour on the freeway with the headlights and other electrical items turned off and it will charge the battery enough to not worry. It won't charge enough idling or just going for short drives.