Not necessarily.
In the world my story is based in, humans are considered the lowest of all creatures and despised by the gods who had never meant for true humans to exist in their world in the first place.
In the lore, they needed something human-like because humans were the only creatures they knew about that had a powerful enough imagination to produce "spirit energy" (an energy in my magic system that is related to thought and imagination, as opposed to mana which is related to life and action).
The dragons are the rulers of the world, while chimeras which were created after dragons were a flawed creature that was too hungry for spirit energy to survive without humans present in the world.
When the gods realized this, they tried everything they could to create a human-like creature that could supply that spirit energy without ACTUALLY creating humans. In the process, they wound up creating beast-men races, vampires, and then finally changelings. The changelings finally did it because they were able to take human form without truly being human. But, after reproducing generation after generation while constantly staying in only 1 form, the changelings started to loose their ability to transform. Eventually, they had human-shaped changelings that could no longer transform. So, effectively just humans.
In this case, all the human-shaped creatures that were also created in this process are called "humanoids" because they have the same shape as those detestable and hated humans.
(If you're going to ask how these gods know about humans to avoid creating them, it's because these gods used to live on Earth, and left after some human-form gods on Earth killed their mother. That's how they know about humans, and also why they hate humans.)