You have been around for several years and have asked questions before, so I suspect you already know the answer. For confirmation:
HIV risks for adults are:
1) having unprotected, penetrative, anal or vaginal sex, or
2) sharing intravenous needles (with IV drug users)
NOTHING else you can think of is a risk for HIV, including the event you described.
No it isn't. HIV essentially is a sexually transmitted disease. Please read about HIV and it's transmission in the FAQ section of the forum and move on.
No risk whatsoever and testing is unwarranted.