Not really, in most cases! I read up on the per-exposure chances of actually picking up HIV a while back[1] and was shocked at how low the risk is, especially for heterosexual men (4 in 10,000 per-exposure; insertive vaginal sex with an infected partner).
Even in the highest-risk scenario (receptive anal sex) the risk is ~138/10,000 per exposure.
Even in the highest-risk scenario (receptive anal sex) the risk is ~138/10,000 per exposure.
[1] https://pmc.ncbi.nlm.nih.gov/articles/PMC6195215/