If i took a sip from a friend's can of tea immediately after they took a sip, can i contract hpv if they have it?

Unlikely: The saliva is an unusual place to find HPV unless a practitioner of oral sex is shedding virus. Transfer to another is thought to require an actual skin to skin contact & a mechanical rubbing. Most sexually active females will have acquired some strains of HPV by college age. The Gardasil 9 vaccine can stop acquisition of some strains if taken before exposure.

No risk, no worry: Given media attention, you're probably thinking of the genital HPV types, sexually transmitted and sometimes (a small minority) cause cervical, penile, anal, and throat cancer. No risk at all from shared cups, utensil, etc; only transmitted by sex. Also no risk from sharing toilets, kitchens, etc. Topic tags suggest you're worried about herpes too: also little or no risk except intimate contact.