You were not at a risk. Your interpretation of HIV transmission through the method you describe is inaccurate as HIV can be only transmitted through sexual contact inside of body, an unprotected vaginal or anal intercourse scenario.
Even if there was blood, puss or any other body fluid present on the surface of the infected person's skin and that came in contact with your penis - it wouldn't be able to infect you since presence of air would not host the viral transmission. Also, for considering even a minute possibility of transmission in your case, there had to be 'large' amount of infected fluid present. One drop is not large!
Your issue seems to be guilt and that is making you vulnerable to illogical ideas, your brain is greiving for what you consider a mistake. To make peace, please see a therapist. No one ever has contracted HIV in that fashion and you are not going to be the first one.
Not sure how to edit my original post but I also inserted my penis between her breasts while she had these sores and I also have developed a lesion on my penis. Would this be a cause for HIV concern as well thank you all