You aren't "in real trouble." You're in no trouble at all as you had zero risk for HIV.
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 those activities, you will NEVER have to worry about HIV. Nothing else you can think of, including the event you described, is a risk for HIV, no matter what. There is no detail you could add that would make this a risk for HIV.
I think that fluid came in contact with tip of penis