Yes, there is a blood test for it, but it takes 3-4 months to develop antibodies after exposure. If you get a sore, the doctor can take a culture swab of it and test it; unfortunately, the traditional one has a high false-negative rate. Polymerase chain reaction (PCR) is more expensive, but is more accurate.
It is possible to get herpes when a person has no symptoms, so I would avoid sharing drinks with her (or any other high-risk people) in the future.
However, like deteragram said, you are probably fine. Remember that she probably doesn't even have herpes. I wouldn't worry unless you start to get symptoms.