His HIV test would be accurate if he was tested outside of the window period (the time between when a person comes in contact with HIV and when HIV will show up on a test). The 4th generation antigen/antibody test we use in BC Canada is 95% accurate by 6 weeks and would give you a final result at 3 months.
Unprotected vaginal sex can pass HIV, but we do not see HIV being passed when having unprotected vaginal sex with a person who is on HIV medication and has an undetectable viral load.
Using a condom for vaginal sex will offer great protection against HIV. We don’t see HIV passing with kissing as it is not in the saliva. HIV could pass with oral sex if the cum or pre-cum got in your mouth but it is not common for it to pass this way.
In regard to getting a HIV test it really depends on your situation and how you feel about it. As you had protected sex I am not really concerned, but if you find your thinking/worrying about it a test may be helpful for peace of mind. You could also ask him if he could do a test at the end of the HIV window period if this is your only risk.
I don’t know your situation so it is difficult to give specific advice about general STI/HIV testing, but if it has been 3-6 months since your last test and you have had other partners in that time it may be a good idea to go for a test. If you have had no other partners apart from this person since your last test you could always wait 6 weeks and then get a STI/HIV check up. Common infections like gonorrhea and chlamydia can pass with unprotected oral sex so you could get these checked at the same time.
Let us know if you have any other questions or concerns.