The first and the most important thing for you do is to get off the internet, wandering here and on other HIV resources are only going to make you even more anxious.
Accept what your counselor has advised you because they are giving you the right and logical information.
You didn't possess a risk from what you have mentioned here and we can't offer you any different opinion than your counselor.
Your issues are due to either guilt or fear of this disease or both, please keep working with your counselor, you don't have HIV and testing won't be necessary.