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 through your fingers, EVEN IF your finger gets blood or other bodily fluid on it. Kissing and sucking breasts isn't a risk for HIV.
If in doubt, re-read items 1 and 2 listed above.
You had ZERO RISK for HIV. No PEP needed. There is no information you could add to this event that would make it a risk for HIV.