Tellurian

"Tellurian" was a term used by various aliens to refer to humans, or Earthlings specifically. The term was utilised in the Third Zone in the 20th century (TV: The Two Doctors), by humans on Pluto in the distant future (TV: The Sun Makers), and in the Galactic Federation in 3985. (PROSE: Legacy)

Inter Minorians also used this phrase. (TV: Carnival of Monsters)