You have been here long enough to know that the only ways HIV is transmitted are:
1) Having unprotected, penetrative anal or vaginal sex, or
2) Sharing intravenous drug needles with other people.
There is no need to post about other scenarios, which you know are not risks for HIV.
Your situation involves personal contact with an object in air (sperm) 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 and saliva and is effectively instantly dead in air 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.