Sorry you are anxious! But in your case, you do not need to be. You had protected sex which protected you from getting HIV. The only adult risks are unprotected vaginal or anal sex or sharing IV drug needles. In those cases, transmission takes place inside the body. When the condom was removed, everything is exposed to air. This is why touching blood isn't a risk as air inactivates the virus. Uncircumcized or not does not affect this. So, you do not need to test or worry. You did not have a risk.
What you are describing is not a direct contact with secretions that could transmit the virus. The only ways HIV is spread are:
-Unprotected anal/vaginal penetrations.
-Sharing needles to inject drugs with.
-Mother to child.
The blood on her hand had been exposed to air before touching your penis, which means in case that lady was HIV+, the virus would have been neutralized and unable to infect.
All the best.