Yes, they do suck them back in once they catch some food, however, since you mention touching them, they can also use these sweepers for aggression. Stinging. When I saw your picture what I was looking for was other nearby corals suggesting sweepers were being aggressive with other corals. Since the specimens are not near any other corals, I assumed they were just feeding. But now that you mention touching them, we are back to aggression.
With just a little info, the whole situation can change! Which is why I always ask for details to the point of being irritating when trying to help people out.
