No, you are not at risk immediately after the infection. Subclinical lesions are usually suppressed by your body spontaneously. They have been studied at length on the uterine cervix and it has been proven that:

In women infected with HPV, the active infection subsided spontaneously in 80-90% of cases within 2-3 years.
Only in cases with persistent and recurring infection from oncogenic types of HPV is there a risk for developing cancer.