The virus does not live very long outside the body. Even if you were to touch fresh bodily fluids from an infected person, you would still probably be safe unless you had a cut or some other way for the virus to enter your body. When your skin does not have any cuts, scrapes, or open sores, it acts as a barrier.
People who have HIV/AIDS often live with people who do not have it, such as family members. Those family members don't have much to worry about. It's very unlikely that you would get HIV/AIDS without sexual activity or sharing needles.