Custom links in footer next to copyright

I am a pinboard and wordpress newbie, so be gentle 🙂

I would like to add simple text links to my disclaimer and contact pages immediately to the right of the copyright notice in the footer. I have tried adding custom text widgets to the footer and footer wide area, but these appear above the copyright notice.

Is there a way to do this without modifying the footer.php? I have been able to use theme changes and custom CSS so far to make the site look how I want, so I would like to avoid creating a child theme at this point if possible.

Thanks!