yes but you would think that if you get notified that you were put in a circle you would think "I wonder what it is?" and go to your friend's page to find out and see the circle you were placed in
No, you will never find out what circle(s) your friends have put you in (unless they tell you). You can only see that you are in a circle, never which circle you're in. When you go to someone's profile page it says if you have that person in a circle. If that person also has you in one or several of their circles it just tells you: "You are in John's circles too". You're overthinking this imo.