In general, this is true: no risk for HIV. Of course this assumes there was no unrecognized condom failure. If this is your lifestyle, you will never reduced your risk of HIV to zero, but you can keep it very low. To remain maximally safe, also ask your potential partners whether they have recently had a negative HIV test and avoid sex with those who don't know their HIV status, haven't been tested, or who don't seem to give straight answers.
For other STDs, even consistetn condom use carries some risk for herpes, HPV, and syphilis, due to skin contact above the condom.
Thank you very much, may the experts in this forum all the best
so if the penis happened to touch a fresh vagina secretion on a moist tissue, is that a zero risk for hiv?