Satyr

Satyrs were creatures which resembled humans with goat legs, pointed ears, and horns on their heads. They were notoriously stupid and only interested in sex. They were the servants of Hades. (PDA: Deadly Reunion)

Extraterrestrial life forms which resembled satyrs included Dæmons and Vegans. (DW: The Dæmons, The Monster of Peladon)