This carried no significant risk of HIV. Still, you should discuss this incident with your supervisor or the hospital/clinic infection control personnel. You can expect them to reassure you, but also to remind you that gloving for such procedures should be universal, regardless of whether the patient is known to have HIV or other blood borne infection.
You didn't have a risk. HIV cannot be transmitted through intact skin, or exposure of blood to small skin openings (abrasions, scratches, etc). You don't have a concern.