"There should be no shame or stigma associated with knowing your status," he added.
Thursday is National HIV Testing Day, when thousands of clinics offer free screenings for the virus.
According to the Centers for Disease Control, more than 1 million people in the United States are currently living with HIV, which leads to AIDS.
As of this year, the U.S. Preventive Services Task Force recommends testing for everyone between the ages of 15 and 65, and regularly testing for at-risk groups, including gay men and people who inject drugs.
Screenings can be obtained in clinics or at home using over-the-counter tests.
The first rapid, take-home HIV test was approved last summer by federal regulators and relies on a mouth swab.
In his statement Thursday, Obama touted the Affordable Care Act for expanding free preventive care, including disease screenings.