If you get someone else's blood in your mouth, and they are infected with HIV you would be at risk for infection. The more blood that you get into your mouth, the greater the risk of infection. This is all assuming you did ingest blood and she was HIV positive which amongst escorts is rare (that's why they use condoms) . For peace of mind you should get tested its never a bad decision
Yes, the human body can carry HIV "if" infected. That is why you wore a condom. To protect yourself from exposure to the virus "if" your partner was infected. You had protected intercourse, and that is all that matters. It doesn't make any difference how much of her fluids got on you or whether she was HIV+ or not. You didn't have a risk.
"Should I be concerned about HIV infection?"
Not at all. You had no risk.