You had no risk so testing was a waste of time. You didn't do any of the ONLY 3 risks below.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching, external rubbing or oral activities. It doesn't matter if you and they were actively bleeding or had cuts at the time either because the HIV is effectively dead.
Only adult risks are the following:
1. unprotected penetrating vaginal
2. unprotected penetrating anal sex
3. sharing needles that you inject with. Knowing these 3 are all you need to know to protect yourself against HIV. Your situation is a long way from any of these 3.
Even with blood, lactation, cuts, rashes, burns, etc the air or the saliva does not allow inactivated virus to infect from touching, external rubbing or oral activities. The above HIV science is 40 years old and very well established so there is no detail that you can add that will make your encounter a risk for HIV.
Only the head of your penis needs protection and blood can't get inside the condom past the ring at the bottom without it falling off. You are safe using a condom always.
btw 2 condoms increases the chance that they will create enough friction to tear each other apart so you are better off using one next time.