This is quite common after sterilizing a pacifier. A pacifier is not 100% watertight or airtight. This is not a concern as there are no health risks involved. It is possible for water to remain in the nipple part of the pacifier after boiling. If this happens, wait until the pacifier has cooled down. Then, press the silicone nipple firmly a few times with clean fingers. The excess water will then flow out through the back of the shield. Condensation or droplets remaining in the silicone part are not harmful; they are sterilized water.
Note: The 18+ months Dental pacifier is completely filled with silicone. This is sometimes confused with water.