There is no necessary and sufficient test, unfortunately. If you're lucky with your inputs, and the polynomial indeed has negative coefficients, then you can determine this with fewer inputs (obvious example: if you plug in even one positive input and the result is negative).
Let's see why no such test exists. Each input provides us with a linear equation. If we're looking for our polynomial
$$f(x) = a_0 + a_1 x + a_2 x^2 + \ldots + a_n x^n,$$
then knowing, say $f(2) = 4$ tells us that
$$4 = a_0 + 2a_1 + 4a_2 + \ldots + 2^n a_n.$$
If we get $n+1$ of these equations, we get a system of $n + 1$ linear equations in $n + 1$ variables, which (as it turns out) has a unique solution, telling us the polynomial.
Each equation, geometrically, represents a "hyperplane": an $n$-dimensional space of solutions, in $\mathbb{R}^{n+1}$. As we collect more equations, we intersect these hyperplanes, stripping away dimensions (in $3$ dimensions, say, two of these planes will intersect in a line, and a third will intersect at a unique point). If we take $n + 1$ equations, this yields a point, the coordinates of which are our polynomial.
So, if we take fewer equations, we're left with a non-trivial affine space of solutions, by which I mean a line, a plane, or a higher-dimensional equivalent.
Now, if we want to guarantee a negative solution, what we're aiming for is a solution set that misses the positive orthant of the $\mathbb{R}^{n+1}$, by which I mean, the convex cone of points which have only positive coordinates. We may get lucky, and our solution set misses this set completely.
But, we may never get the situation where our non-trivial affine solution set lies entirely within this orthant! We can never contain even a line in there, as going off in one direction will always yield a solution with a negative coefficient. That is, as I said, we may be able to prove the existence of a negative coefficient if we are lucky enough, but we may never prove that the coefficients are all positive unless we have $n + 1$ equations.