OK, I am coming at this from a different view, similar to what JimmyB27 offers.
You note she has an advisor who later takes her to earth where she interacts with Humans, but much later in the story.
This would imply to me that earth is not unknown on her world, even if she and those she knows have never seen an earthling. Humanoid does not have to mean Earthling in and of itself, and there can be lots of different types of hman-ike races. In fantasy fiction, Elf's, Orc's, Fairy's and even Hobbits are all humanoid in appearance, though certain species of humans would not think of them as human.
I think it's good that you worry about what terms to use on your non-earth world, but sometimes you can carry this too far. Think of names given to trees on earth, like oak, elm, or pine tree. Do they have these trees on your world? How about titles to those who are family members, mother, father, brother, cousin. Are you worried that these terms are the same on your world?. Do inhabitants of your world even get married, which is a very earth like term. For me on my world, I never use the term marriage, husband or wife. Instead, I use the generic term bonded and mates. Its the same thing, but the reader gets the flavor of another world, which is really what you are trying to create, IMHO.
See the point? If you start worrying about if every little word is earth-like, you can drive yourself crazy. Some terms and names you can borrow and others you should clearly avoid. I don't think humanoid is one of those you need to avoid.
Whatever you do, be consistent with what you use and do not use. Hope this helps...