No unprotected penetration means no risk, and no risk means no HIV.
HIV is transmitted through unprotected vaginal/anal penetrations and sharing needles to inject drugs.
If you didn't do any of those ones, you cannot get HIV.
Yep, you are being paranoid. The ONLY way adults get HIV is to have unprotected vaginal or anal sex (penetrating) or sharing IV drug needles. You didn't do those things so you did not have a risk. At all.
By the way, air inactivates the virus and this is why a penis touching someone would not infect you. Transmission takes place INSIDE of the body.