Contact does not automatically mean a foul. The severity of the contact has to be considered. Each player has a right to the ball, but each player also has a right to occupy space on the floor and the space above himself. If player A displaces player B, or contacts player B severely, we have a foul. If the contact is incidental, there is no foul. Basketball is a contact sport.
From your description, it appears that you are discussing a pickup game where you call your own fouls. If this is the case, the principle is honor the call or go hire a ref. If player B calls a foul, it's a foul. If you're going to argue the call, there's no point in even playing.
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