The only risks for HIV in adults are:
1) Having unprotected (no condom) penetrative anal or vaginal sex, OR
2) Sharing IV drug equipment with other IV drug users.
As long as the head of the penis was covered during intercourse, then you had no risk for HIV. It does not matter if fluids got into the condom, or if the condom was loose. If the condom did not completely fall off or break wide open, you had zero risk for HIV and you do not need any test.