You had no risk for HIV by touching your penis with the vaginal fluid. It had been exposed to air which renders the virus (if any) inactive, or, in other words, unable to infect.
Since none of us here at MedHelp are doctors, I can't tell you why your penis got red after sex and remained red for 3 days. I can only suggest that perhaps you are allergic to latex condoms or possibly the condom was too small for you and the friction from thrusting during sex may have irritated your penis. If your penis has returned to normal, I wouldn't worry about it, but I would advise mentioning it to your doctor the next time you see him, or if it happens again.
The white pimples under your foreskin could be a number of things and the ONLY one who can diagnose you correctly is a doctor. If you ALWAYS use a condom for both vaginal and oral sex, there is no risk for YOU, but depending on what the cause is, say HPV, if you receive unprotected oral sex, you can pass it to your partner. I would recommend you see a doctor so you know exactly what you're dealing with.
Thanks for the reply sir , i'll get it checked but i wanna know that as these white pimples are transferred ,is it possible that hiv would too ?