Is it only semen that transfers hiv or any bodily fluid?

No: Hiv is definitely shed in blood and other body fluids as well.

Other fluids too: We recommend using "universal precautions" when handling semen, blood or other body fluids from HIV positive individuals. We usually consider HIV to be a std, so for the most part, you need not be overly concerned about contact with saliva, for example. Semen and blood banks screen donors to prevent infecting recipients.