You cannot get HIV from touching anything, including blood, vaginal fluid, or other bodily fluid and then touching yourself anywhere on your body, including your penis.
The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
NOTHING else you can think of would put you at risk for HIV, including the event you describe. There is no "what if" that you can add to this event that would make it a risk for HIV.