As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
If you don't do either of the two activities I mentioned above, you will NEVER have to worry about HIV.
You don not need a test, and you are HIV-negative as you had zero risk for HIV from contacting vaginal fluid outside of the body. You had ZERO risk for HIV.