You can't get hiv from sucking a breat nipple. That's the bottom line. Air and saliva inactivate the HIV virus which is very fragile. Even if you have a cut in your mouth, this is not a risk. The only way people get hiv as anxiousnomore said is through unprotected vaginal or anal sex and sharing of IV drug needles. So, no risk.
You had no risk of HIV because you can't get HIV from touching. You are so safe that you don't even need to test. PEP would be a waste.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching or oral activities. It isn't a worm that could burrow into your skin anyway. It doesn't matter if you were actively bleeding or had cuts at the time either because the HIV is effectively dead.
Only adult risks are unprotected penetrating vaginal or anal sex or sharing needles that you inject with but you didn't do that so you had no risk. This sentence is all you need to know to protect yourself against HIV.
Even with blood, lactation cuts, rashes, burns etc air and saliva does not allow inactivated virus to infect from touching and oral activities. The above HIV science is 40 years old and very well established so nothing you can add will make your situation a risk.