It is the rare occasion where you hit something while driving and it is not counted against you as a responsible accident. Most states and insurance companies will not consider this kind of claim a responsible accident. Contact your insurance company to find out how they view this and make sure that there would not be charges associated with a comprehensive claim.
If you have paid off your car, comprehensive coverage is optional. It may be a good idea to find out the Kelley Blue Book value of your vehicle. Would you be able to pay that amount to repair or replace your vehicle if it were stolen or damaged in an accident? If you can't afford to pay much out of pocket, then buying optional coverages, like comprehensive coverage and collision coverage, may be a smart investment.