In the real world, people are exposed to various risks. It is a risk to drive a car. It is a risk to play a sport. It is a risk to drink alcohol. Every time you eat, there is a risk that you choke and die.
Solving public health problems by saying “you should have take more responsibility” is not effective. But the goal is to reduce negative outcomes. We can regulate cars to make them safer. We can provide free programs to stop people smoking. And yes, we can provide alternative HIV prevention methods to people who aren’t reliably using condoms.
Anyway, your underlying point is wrong in any case, for two reasons - first, PrEP is more effective at HIV prevention than condom use, which would presumably mean in your view that not using is would be irresponsible. Second, there are obvious cases when people contracting STDs because they didn’t use condoms for sex do not bear personal responsibility, such as when one of a long-term supposedly-monogamous couple contracts a STD without informing the other.