That centers race a bit much. There weren't black people in medieval Europe, but nor were there white people. We're projecting contemporary racial categories onto a past where they didn't exist. The question of whether there were black people in Europe is akin to asking what did people there think of the USSR.
That said, yes, people we'd currently code as black existed in Europe, though disproportionately in entrepots in the Mediterranean. If you proceed to e.g. Elizabethan England, most people wouldn't have been confused by the sight of a black person (cf Othello), though they'd likely be something of a curiousity (though still not considered black in the contemporary sense).
