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.). And don’t worry about sterilizing anything. Standard cleaning practices will work just fine, since HIV dies outside in open air very quickly anyway.
The things you need to clean away after that are the same germs that you would clean away for any visitor or loved one. 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.