lyme disease can be treated quite effectively if you catch it early. and now that it's a more well-known disease, it's easier to identify early on in the disease process. three weeks of antibiotics leaves most people right as rain.
if you found one tick, and it was not sucking blood, most prob. your dog is ok, and most likely that was the only tick, but if you ever see a flea, then chances are there might be more then one.