You didn't have exposure to HIV, so you don't need testing. There's a higher probability you'd receive a FALSE positive then revealing your actual HIV status, which is NEGATIVE. Not to mention that HIV tests are not cheap at all despite being offered for free in most countries.
If you ever have UNPROTECTED vaginal/anal sex with a person who is diagnosed with HIV or someone of an unkown status, or shared needles for injecting IV drugs, take a test at 3 months post exposure.