In all your massage encounters, you had no risk for HIV. HIV is transmitted only by unprotected vaginal and anal sex. Even if their vaginas touched your penis, you'd need penetration - your penis actually going inside their vaginas - for there to be a risk for HIV. You don't need to testing you had done today.
There is also no chance for a hepatitis infection. If you haven't already been vaccinated for hepatitis B, ask your doctor about it. You had no risk from these encounters, but it's a good idea to be vaccinated anyway.