As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
If you don't do either of the two activities I mentioned above, you will NEVER have to worry about HIV. In the 40 year history of HIV, no one has contracted HIV from fluid outside of the body. HIV is inactivated in water, air, saliva - it is not active ANYWHERE outside of a person's body. The only exception is an intravenous needle, because the syringe is a vacuum, and the HIV blood is not exposed to the environment.
You didn't need PEP, you don't need a test, and you are HIV-negative as you had zero risk for HIV from contacting vaginal fluid outside of the body.