You had no risk. The only way HIV can be transmitted sexually is through unprotected anal or vaginal penetrative sex. Since you did not engage in that type of activity, you are not at risk for HIV. HIV can only infect inside the body. Body fluids exposed to air are not able to cause infection outside the body.
Yes, I agree with Chima7. This is not a risk for HIV. HIV is only transmitted through penetrating vaginal or anal intercourse or sharing IV drug needles. Transmission has to be inside the body. Activity that you describe would not be a means of transmission. Air inactivates the virus. So, you did not have a risk.