I don't know what you read or why someone would say that it's a risk, but it is not. Again, there is no detail you could add to this event that would make it a risk for HIV.
There isn't anything more to say about this no-risk event.
The only risks for HIV in adults are:
1) Having unprotected (no condom) penetrative anal or vaginal sex, OR
2) Sharing IV drug equipment with other IV drug users.
You can't get HIV or any STDs from someone's hand EVEN IF those hands have fluid on them. There is no detail you could add to this event that would make it a risk for HIV.