Hi there and thanks for your question.
Based on what you have described, the likelihood of you getting HIV is very low.
That being said, if you are at all concerned you can go and get and HIV test to put your mind at ease. In BC, it is recommended that everyone (regardless of their risks) be tested for HIV at least once in their life. Any time you have a change in your health, or you are worried about a risk you may have had (sexual or as you have described here), that is another indication for testing.
In order for HIV to be transmitted, three conditions need to be present:
1) A person has to have body fluids (semen, blood, breast milk, vaginal or rectal fluids) that contain a good quantity and quality of HIV
2) There has to be an activity with another person ( unprotected sex, preganancy and delivery, sharing injection equipment, occupation exposure)
3) An entry point in to the other person (rectum, vagina, mouth, vein, broken skin)
If any of these conditions are not present, HIV will not be transmitted. Even if HIV gets into the body, it will not necessarily result in infection.
This is also explained in the Canadian AIDS Treatment Information Exchange (CATIE) website: https://www.catie.ca/en/pif/fall-2011/exposure-infection-biology-hiv-transmission
I hope that this helps.