You can not get HIV from rubbing on anything or anyone. The only risks are to have unprotected vaginal or anal intercourse (with penetration) or sharing IV needles to INJECT drugs. Air inactivates the virus.
Please keep your penis in your pants on buses. Women including those who 'strip' do not want your penis to invade their space while riding a bus. That's a self control issue to work on.
Your question was answered no risk.
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Probably not a great idea for your personal safety and reputation to be pulling your penis out on a bus and rubbing it against women, though.