Code that repeats
So far your code has run once. To animate, define a function called draw. p5 runs the body of draw about 60 times per second, over and over.
Two special variables, mouseX and mouseY, always hold the mouse's current position on the canvas. Combine them with draw and you get interaction:
Why background() inside draw()?
Calling background(220) at the start of every frame wipes the canvas clean. Remove it and the circles pile up into a trail — try it!