UPDATE: I had to reinstall my machine, and needed to reconnect to a HP1010 on an XP machine over a network. I managed to skip connecting the HP1010 locally first but going through the following procedure it worked first time;

Control Panel > Hardware and Sound > Devices and Printers
Right Click > Add Local Printer (yes add as local, not network)
Create New Port > Local Port
Enter Port Name > //[machinename]/[printername] (back slash not forward slash - I can't type back slash into the forum)
Install Printer Driver > HP > HP Laserjet 3055 PCL5
Rename the printer HP Laserjet 1010
Do not share (it's already networked anyway!)
Print test page
Done!