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.
No other event that you can think of, including the event you mentioned, puts you at risk for HIV. You cannot get HIV from fluids that fall on skin anywhere on your body, EVEN IF you rub the fluids in. Once outside of the body, fluids lose the ability to infect.
This is a NO RISK event and you do not need to test.