HIV risks for adults are:
1) having unprotected, penetrative, anal or vaginal sex, or
2) sharing intravenous needles (with IV drug users)
NOTHING else you can think of is a risk for HIV, including the event you described. Vaginal fluid encountered in an environment outside of the body is not infectious. Vaginal fluid would need to enter your urethra while your penis was inside of a vagina.
NO fluid outside of the body is a risk. Even considering wound-to-wound contact, you would be talking about having a wound so significant that it required immediate medical attention.