I would not say this is enough contact to transfer. However, it sounds like your sex life might warrant a periodic test. If you have never been tested it is probably a good time to start.
You also want to prevent transfer as you said, so cleaning up those gums will be a good start. Brush as often as you can and rinse with an antiseptic mouthwash three times a day minimum to clear up and keep your gums in better shape. If this does not do it your dentist can give you a prescription of mouth rinse that can.
OMG. HIV is very very weak virus the experience you describe will never ever pass the virus or any other std. You have nothing to worry about. Continue to have sex with your regular partner you have no need to test.