It is nowhere NEAR the same risk as unprotected sex, and Dr. Hook only suggested testing because that member was a repeat visitor who had displayed extreme anxiety. You will note that he said PEP was not at all recommended.
It is, at worse, EXTREMELY low risk since fluid that has been outside of the body loses the ability to infect almost immediately. The extreme low risk of this activity, coupled with the fact that most people are not HIV+, is not worth any real concern.
Test if it will give you peace of mind, but that's really the only reason to test.