Nope, you are fine.
When we talk about blood transmission, we mean a large amount of blood has to get into your blood stream. If she was fingering you with a nearly severed finger and it was bleeding profusely, I'd say maybe. This didn't happen. Whatever scenario you imagine, don't. If someone was bleeding enough to transmit anything via blood, they wouldn't be engaging in a sexual activity. They'd be at the hospital.
Licking breasts isn't a risk for anything either. STDs don't live on the breasts. If she were producing breast milk and you were an infant, I'd say there was a chance of you getting HIV, but she wasn't, and you aren't.
You are fine. No need to test.