You didn't have any risk so you don't need to test.
Only sex risks are penetrating unprotected anal or vaginal. HIV is instantly inactivated in air (which means it instantly can't infect) so can't infect outside the vagina or anus. It doesn't matter if you were cut where you touched or swallowed the blood, because it is fragile and is not like a cold virus that can be transmitted outside the lungs of the other person's by coughing.
The only other way it can infect an adult is from sharing needles then injecting which you didn't do.
All this HIV science is 40 years old and well proven over that time so nothing you can add to your situation will make it a risk.