PEP wouldn't be warranted for your situation. However, it is call only a professional medical practioner can take. PEP is generally warranted for blood transfusion, needle sharing, occupational hazards and sexual assault. It is for some one who is frequently exposed to the virus. I personally, don't feel for a few seconds of unprotected exposure PEP would be required. You must go and see your doctor. Should your doctor feel he needs you to go on nPEP, you must know there are side effects to the medication.
Unprotected sex would warrant testing. Though being unprotected for small amount of time reduces the risk. However, a risk is risk, the only way to get this behind is to test.
You could take a IV Gen test at 28 days or a standard antibody test at 6 weeks. Stay away from symptom surfing and going forward use condoms consistently.