No. Taking PrEP every day greatly reduces the risk contracting HIV. There have been only a handful of documented cases where someone became HIV-positive despite using PrEP as directed (out of hundreds of thousands of PrEP users).

Using condoms in addition to PrEP can further reduce the risk of infection. Condoms also provide some protection against other sexually-transmitted infections (STIs).

For estimates of the risk of acquiring HIV as a result of specific activities, use the HIV Risk Estimator from the US CDC (Centers for Disease Control).