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.
You had ZERO RISK for HIV. Fluid, once outside of the body, is no longer infectious. Transmission occurs INSIDE the body - when a penis is unprotected inside a vagina or anus - not OUTSIDE. There is no information you could add about this event that would make it a risk for HIV.
You do not need a test since you didn't have a risk.