You used a condom, which, if it does not burst WIDE open, protects you from HIV.
As an adult, the only risk behaviors for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
If you do not do either of those things, you will never have to worry about HIV. This includes coming into contact with blood or other bodily fluids when they are outside the body. HIV transmission happens when a penis is inside a vagina or anus unprotected. Fluid that was on the base of your penis is not a risk. Fluid that touched any other part of your penis as you removed the condom - outside of the body - is not a risk for HIV.