is HIV only transmitted inside body?

Doc.

My glans touched her vulva .

I did no rub my penis on her Vagina also the was no Penetration at all.

Just touched my penis to her vagina and may be her vaginal fluid touched my penis head .

But i read somewhere

1) There is no risk for acquiring HIV from such accident ,
2) HIV transmission required penetration, as in a bare penis inside a
vaginal or rectum.

3) Frottage, or genital apposition, is never a risk forHIV transmission because the conditions for transmission do not exist outside the body.

4) It is transmitted sexually inside the body, only. There is no recorded exception by such way.HIV is only ever transmitted, sexually, when a penis is inside a vagina or anus.

Please Explain does above statements are correct , it need penetration or can penis can suck viginal fluid and cause hiv.

Please Explain briefly

Need a help .

Thanks and regards