No. As long as you aren’t having unprotected sex with them, or sharing needles, you are not at risk for getting HIV from them through casual contact (hugging, kissing, sharing dishes, sharing bathrooms, etc.). Standard cleaning practices will work just fine, since HIV dies outside in open air very quickly anyway.
If you are having sex or sharing needles with your loved one who has HIV, then it would be good to get tested for HIV. Also, if you haven’t already, start using protection every time you have sex and new needles for your own injections