As I'm sure you already know, whenever sex is performed (even a short time) there are always risks involved.
In order to get HIV via the blood you talk about, it would need to come in contact with your blood as well. HIV can be in semen etc. however, it's most common to transmit via blood, as it would take a lot more body fluid to transfer HIV. That is why things like sharing a cup or kissing is not anyway one can get HIV.
So from the information you have given, are you at risk? Perhaps a tiny chance, as the only way to say you are fine 100% is by nothing happening. Should you rush out and test, that is really a person choice. I personally would say chances are you're fine. But just keep aware as to what should and shouldn't happen in the future and do talk to him again, just to see what feeling you get. If nothing else, you can do the standard test in a few months just to confirm and for peace of mind. But I don't see you catching HIV with what occurred.
Hope this helps, If you need anything else please feel free to ask. If you found this helpful don't forget to click the *ACCEPT* button and please take a moment to leave me *POSITIVE* feedback.