What you already know is spot on. You can't acquire HIV through any thing that you have mentioned here today.
Below are the only potential risk for HIV transmission:
1. Unprotected vaginal or anal intercourse
2. Sharing needles - PWID
3.Transmission through blood transfusion. (This is rare as most blood products and blood transfusion are subjected to preliminary screening.)
Since you know you are a hypochondriac, you should work with a therapist to seek help for your irrational thoughts in general. For HIV risks from this incident, you shouldn't be worried, there was no risk involved, you do not need to test.