Can you get herpes if some of the person with herpes saliva gets on your lip?
Don't panic, my friend. Having just gone through a horrible 6-month long scare myself I can tell you to relax. HSV can only be contracted through direct contact, since the virus has to be pressed or massaged into the skin. That's why the mouth and genitals are so susceptible to it--the tissues are thinner and more sensitive.
My first advice is to breathe. Getting HSV from spit on your lip is pretty far fetched, particularly if the spitter didn't have any kind of outbreak. If you haven't had any symptoms, and the IgG test comes back negative, you're fine. If you want peace of mind, you could also have a Western Blot test done, though that test is generally most accurate after several months.
Speaking as someone who's just come out of this panic, my best advice is to stop scaring yourself! HSV is a tricky virus that can take any number of forms, but constantly reading the frightening, often conflicting and inaccurate information on the web is NOT the way to cope. Again, trust me on this one. If you're scared, arrange an IgG blood test or speak to the CDC or one of the other experts on here, but for now, it sounds like you've little to worry about.