I think I can clarify.
They were talking about herpes. Herpes is responsible for genital warts, however it is also responsible for cold sores and planter warts. It is a virus, but the area where you get it is the area you will have it. If they don't appear on your penis, they won't unless your penis comes into contact with one of those warts.
Herpes is in a completely different family than HIV. HIV is only transfered through bodily fluids - vaginal discharge, semen, and blood. You won't get it from kissing anyone with HIV unless their mouth is bleeding.
Hope I helped (aren't I a health nerd?)!