Humanoid

Humanoid means having an appearance or character resembling that of a human.

In The Prism of Lyra, the word "humanoid" is used to refer to anyone of Lyran descent. The book describes all humanoid species as being subsets of the Lyran humanoid genus.

I do not fully agree. Several systems within this galaxy support human-like species that originate in these systems, and that were meant to come into existence by themselves too. Earth, e.g. had primates, had 'original' human-like species, before the visitors came.
All humanoid species living within this part of the galaxy today however, are the result of interference and cross-breeding with the Lyran Forefathers.

Then again, if we consider a directed panspermia scenario, then it is possible that all humanoid species share one common ancestor. But that ancestor is not necessarily Lyran.

See also: Humanoid phenotype.