Correct. HIV is not that easy to transmit, and is only viable under very specific circumstances. In the case of sexual activity, that means unprotected penetrative intercourse.
This forum only covers HIV concerns, but you can ask about STDs here: https://
www.medhelp.org/forums/STDs-STIs/show/98
The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
There isn't any other situation that you can think of, including the ones that you mentioned, that would put you at risk for HIV. Sexually, HIV requires penetration in order to infect. You didn't have an HIV risk from this incident.