No. You did not engage in a risky behaviour. Oral, even with out a condom is not a risk for transmission.
Presence of saliva creates an obstruction for viral fusion with the mucous membrane layer of the stomach. Also, ingesting infected fluid is not an effective route to transmission since the gastric juices of stomach does the same as stated above.
Testing is not needed. Below are the only risk for transmission in adults:
1. Unprotected vaginal or anal intercourse.
2. Sharing needles to inject drugs with other users.