You had no risk for HIV and a test would be a waste of time. People touch others all the time - for example shaking hands and no one has to wear latex gloves to protect a bleeding cut.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead 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. This sentence is all you need to know to protect yourself against HIV.
Even with blood, lactation, cuts, rashes, burns, etc the air or the saliva does not allow inactivated virus to infect from touching or oral activities. The above HIV science is 40 years old and very well established.
No one got HIV from touching or oral activities in 40 years of HIV history, so likely no one will in the next 40 years of your life either.
None of what you described poses a risk. You are safe, nothing to worry.
babies drink large amount of milk, do you?
Thanks a lot for your response. Really appreciate you answering my query. Had read somewhere that breastfeeding can lead to HIV in babies. So doesn't that apply to adults as well. In the sense she could be lactating and I have sucked on that, pretty much like in the case of breastfeeding. So why would that be no risk? Don't mean to challenge your response, I'm just asking to clear my doubt. Thank you.