Your additonal comments do not change my assessment or advice. EWH
One final confirmation.
1. I am uncircumcised.
2. While cleaning some of the blood might have touched the head of penis not sure I was careful when removing condom.
Welcome to our Forum. The question you ask is one we get frequently, raising concerns about the possibility of increased risk for HIV associated with exposure to menstrual blood. This concern is not warranted however. There is no evidence that sexual exposure to menstrual blood is associated with increased risk for acquisition of HIV. In fact, when studied, the amount of HIV present in genital secretions from persons with HIV is highly variable and can often be higher than the amount of HIV present in the same person's blood.
In your own case, there is little reason for concern. Further, you do not know that your partner had HIV and statistically it is unlikely that she had HIV. Even if she did, you used a condom and condom protected sex is safe sex. That some of her genital secretions containing blood was on the surface of your scrotum does not represent a risk for HIV or any other STI. Given the specifics of your exposure, there is certainly no reason to seek PEP and in fact, there is not even a reason to test for HIV or other STIs, you were not at meaningful risk for infection,.
Please don’t worry and please continue to practice safe sex. I hope this comment is helpful. EWH