Now it is over 72h and my doctor also said that I did not need PEP. Everything I search supports that it was safe, I know it was safe, but I am still anxious. I will receive tests, and share my negative results here in two, four, and maybe six weeks. I hope this can help me become calm, and other people have the same question.
You explained the situation well originally, so the advice can't change now. "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, "
Your situation involves personal contact with an object in air (her mouth which is not a risk for hiv.) No worries, 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. Safe people do not need PEP.
You might get Covid if he had it.