So, the risks of HIV have not changed. They won't change. So, here they are another time. The risks for HIV are simple, having unprotected vaginal or anal intercourse with penetration (penis to vagina or anus) or sharing IV drug needles. Air and saliva inactivate the virus. Someone fingering your anus will not transmit the virus because you can't get HIV from a finger. Even if they had a cut. Even if you had a cut. even if the finger was bleeding. It would not transmit the virus. No one gets HIV this way. So, no risk.
Your situation involves personal contact with an object in air ( finger, blood etc.). You will be happy to learn that you had no risk, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the worst that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
There is no reason for a person to test when they are safe. The advice took into consideration that the other person might be positive, so move on and enjoy life instead of thinking about this non-event. hiv prevention is straightforward since there are only 3 ways you can become infected, so next time you wonder if you had a risk, ask yourself this QUESTION. "Did I do any of the 3?" Then after you say "No, I didn't" you will know that it's time to move on back to your happy life.
No one got hiv from what you did during 40 years of hiv history and no one will get it in the next 40 years of your life either. You can do what you did any time and be safe.
It is not necessary to do an hiv test if you have cuts on your hand and shake hands with someone else who has cuts or whatever other encounter involving mixing blood without penis penetration occurs, so it is similarly not necessary now.