Greetings and welcome to the forum. Thanks for your question.
Congratulations on an obvious commitment to sexual safety. You're doing all the right things -- consistent condom use (a minor lapse here and there isn't typically a big deal) and an apparently thoughtful approach to partner selection. You probably are aware that HIV risks are quite a bit higher among African Americans than other racial/ethnic groups in the US, but your personal risk seems to be very low. The only thing I would add is that you should be in the habit of directly asking your partners about HIV/STD status before having sex, and then being extra cautious (or saying "sayonara") for those who are positive and not on treatment, don't know, or seem evasive. (You may do this, but you don't mention it.) Below are links to a couple of threads that discuss the origins of special HIV risk in AAs, in case you and other readers are interested.
http://www.medhelp.org/posts/show/717093
http://www.medhelp.org/posts/show/1261996
As for these specific exposures, the first is not of concern, with complete and proper condom use. And the second partner seems to be at very low risk. And even with completely unprotected sex, with ejaculation in the vagina, the average HIV transmission risk for any single exposure, if the male is infected, is around once for every 1,000 exposures. Your risk would be even lower, given the brevity of the unprotected exposure, without ejaculation. The risk for other STDs could be higher, but again, it sounds like your partner probably isn't at high risk.
So on the basis of these events, I don't really see a need for another round of STD/HIV testing at this time. Of course you are free to do that, if it would ease your mind better than my verbal assessment can do.
I hope this has helped. Best wishes-- HHH, MD