Jakkooo, as already told by ANM and CurfewX, you do not have any HIV concern.
Your situation is straightforward i. e. Zero Risk... So Move on.
For Any other STD/STI related question, you need to visit STD Forum mentioned by the Moderator.
The only adult risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex with someone of unknown status, or
2) sharing intravenous drug needles
You had zero risk for HIV. HIV infection occurs ONLY inside the body - when a penis is inside a vagina or anus, unprotected - never OUTSIDE. Fluid outside of the body is not infectious. You do not need an HIV test since you had no risk for HIV.
No one has ever been infected in this manner, and you will not be the first.
This answers all of your HIV questions, and if you can think of any more just reread about the 3. You had zero risk therefore testing is irrelevant to your situation because you had zero risk. HIV is a fragile virus, which is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching, external rubbing or oral activities. It doesn't matter if you and they were actively bleeding or had cuts at the time either because the HIV is effectively dead.
Only 3 adult risks are the following:
1. unprotected penetrating vaginal with a penis
2. unprotected penetrating anal sex with a penis
3. sharing needles that you inject with.
The only way to get HIV is if you did one of the 3. The situation you describe is a long way from any of these 3.
Even with blood, lactation, cuts, rashes, burns, etc the air or the saliva does not allow inactivated virus to infect from touching, external rubbing or oral activities. Doctors have calculated the risk from what you describe to be less than that of being hit by a meteor, therefore no one will get HIV from what you did in the next 40 years of your life either. The above HIV science is 40 years old and very well established, so no detail that you can add to your encounter will change it from zero risk.