Due to the nature of HIV and its slow progression in the majority of patients, you are always going to wonder if you have HIV even if these lesions disappear. Sure, your history increases your chance of having HIV, but then again it only takes one time with the right person to push someone elses chance of HIV right past yours. The only solution for your sanity would be to get checked and with todays privacy you would be fine. I'm not exactly sure I would wage life against insurance policies and the fact that you wanted to get checked will not raise your premiums. I work in the Emergency Room and if I went for an HIV test because of a splatter or stick my insurance would not increase.
However, even if it would I wouldn't let that hold me back from peace of mind and treatment. There are wonderful agents these days that make living with HIV "enjoyable" and comfortable in final stages. Though, people with HIV are living much longer.
Good luck to you bud, hope you get peace of mind soon.