Matt_LRR said:
Terrans is the obvious choice.
-m
That would apply to every species on the planet unfortunately. It works better when describing humanity as a cultural group (in the same way French or American works today).
Human is most probably the result of hominis (meaning man) and humus (earth) being combined in a word that most literally means "Earthly Beings". Given that this word was first coined during an era when people believed that divine beings often directly interacted in mortal affairs, it seems reasonable that they would come up with a word that distinguishes people from gods.
If one wanted a new word, it would have to represent humanity in a way that specificially encapsulates us as a species. At the moment I am at a loss as to what traits would be so general as to apply to nearly ever person who has lived in the last couple of millenia.