You had no risk of HIV because you can't get HIV from touching HIV. You are so safe that you don't even need to test.
HIV is instantly inactivated in air which means it is effectively dead as soon as it leaves someone's body so it can't infect from touching or oral activities. It doesn't matter if you and they were actively bleeding or had cuts at the time either because the HIV is effectively dead.
Only adult risks are unprotected penetrating vaginal or anal sex or sharing needles that you inject with but you didn't do that so you had no risk. This sentence is all you need to know to protect yourself against HIV.
Even with blood, lactation cuts, rashes, burns etc air does not allow inactivated virus to infect from touching it. The above HIV science is 40 years old and very well established so nothing you can add will make your situation a risk.