Pap smear and HPV questions...Worried...?

If your pap smear and HPV tests come back normal, how is that truly a sign of relief? I ask because I have heard that just because these tests come back normal, that does not mean that you do not have the HPV virus. Therefore meaning that you are not out of the clear for cancers and such. So how are you supposed to know for surely you don't have things wrong, when statistics say that just by having one time, pretty much means you will get HPV within years after? This is scary, and I don't want to think I am fine, and then p it to my new life long husband. I've also read on Webmd that the HPV virus can stay in your body for up to two years, and in most cases your body will clear up the infection on it's own, but it takes those two years to do so. And I've also read and heard from other sources that this virus can be silent and not always seen or found. How do I truly know I am OK? I can't go get a test and have it come back and say I am fine, when all of these other things say to my face that it's not a certainty. I have asked my doctor and I'll I get told is not to worry, well how can I not worry? Please help.