No, you cannot get HIV that way. You would have to put your penis inside her vagina or anus, without a condom, to be at risk. Even if vaginal fluids were rubbed into your penis, you are not at risk.
You can only get HIV from:
Unprotected, penetrative vaginal or anal sex, or
Sharing IV drug works with other IV drug users.
Johnny, I told you the ways that HIV *can* be transmitted. Any other risk that you can think of is NOT a risk at all. It is as simple as that. HIV transmission happens when a penis is inside a vagina or anus without a condom.
HIV becomes inactive when exposed to air and loses its ability to infect. She could rub vaginal fluids all over your body, everywhere, and you would never be infected.
As you've been told above as soon as the virus hit air it dies as its very fragile, so you are not at risk from infection.