No. As long as urethra was protected with a condom, you were safe. No risk. Testing is not recommended.
Ya, you had no risk. As long as the head of your penis is covered, there is no fear of HIV. Even if you found blood. Just touching blood does not result in HIV. The only risks for HIV are unprotected vaginal or anal sex or sharing IV drug needles. Air inactivates the virus. Blood at the base of your penis is not going to give you HIV, so no worries. No risk.