The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
You CANNOT get HIV from hands/fingers, EVEN IF the hands/fingers have blood or fluid on them.
If you do not engage in any of the activities I mentioned above with someone HIV+ or whose HIV status is unknown to you, you will NEVER have to worry about getting HIV. There is no "what if" question that you could imagine about this event that would make it a risk for HIV.
You did not need to test once - you definitely do not need to test again.