This doesn't sound herpes related. For goodness sake, don't poke at your lips with a needle enough to make them bleed!
Oral herpes is incredibly common; about 60% of the adult population has it and most of us won't make it to the old folks home without it.
Could you have oral herpes? Sure - many of us get it in childhood. Perhaps become educated and give up the fear of what it is. Pretty much 1 out of every 2-3 people you kiss will have oral herpes.
Read more here to become educated:
http://www.ashastd.org/herpes/herpes_learn_oralherpes.cfm oral herpes
Sorry Nick. I don't think it's possible to give an opinion on this. But you saw a derm and they didn't think it was anything to be worried about. It doesn't get much better than that.
Generally, I would think that the chances of catching this from a quick kissing session (when you didn't even see a lesion) are a bit low to say the least. I am positive for HSV1 because I had cold sores as a kid. I haven't had a cold sore on my lips for decades now. I will blushingly admit to having had my fair share of kisses and have kissed thousands of people on the cheek in the past few years. Guess what! I have never passed HSV1 to anybody. But, even if I had, frankly it would not be the end of the world. In common with most people on the planet, you may already have it.
Also I poked at a few places on the lips that I thought could be blisters with a needle and I didn't get blood but I also didn't get fluid. If that makes any sense.