Yes, even if those things happened. In the world's busiest HIV/AIDS clinics, there are never patients who did not have traditional high risk exposure (sexual, shared needles, etc). If contacts like this could result in infection, obviously there would be at least occasional patients with traditional risks.
Do your best to stop worrying about it.
Even if my clothes touched the blood and/if it touched my skin no risk sorry don't know a lot about diseases I was always taught growing up you can diseases from toilets
You can relax; all is well. Your doctor is correct. Nobody has ever been known to catch HIV by exposure to blood in the environment, whether in a public toilet or anywhere else.
So no worries, and definitely no need for testing.
Best wishes.