You had no HIV risk and it doesn't matter if he was positive so a test would be a waste of time. You can read anything on the internet, and besides even if it happened once (which it didn't) , that is just 1 infection out of billions of cuts where an HIV person's blood touched another persons - think about how many athletes collide and how many people shake hands with a cut.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching, external rubbing 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.
The only way for you to even have a theoretical risk would be if both of you had deep cuts and the virus from his cut was pushed deep into.your cut. That could only happen if both of you were in some kind of crash like a car accident.
Only adult risks for HIv are the following:
1. unprotected penetrating vaginal
2. unprotected penetrating anal sex
3. sharing needles that you inject with. Knowing these 3 are all you need to know to protect yourself against HIV. Your situation is a long way from any of these 3.
Even with blood, lactation, cuts, rashes, burns, etc the air or the saliva does not allow inactivated virus to infect from touching, external rubbing or oral activities. The above HIV science is 40 years old and very well established so there is no detail that you can add that will make any of your encounter a risk for HIV. No one in 40 years of HIV history got HIV from the situation you are concerned about so it is unlikely that it will happen in the next 40 of your lifetime either.