There were also humanoid creatures before humans (homo sapiens sapiens). There was neanderthals (homo sapiens neandertalensis I think) but there were others even before that, like Paranthropus robustus or Australopithecus afarensis (like Lucy http://en.wikipedia.org/wiki/Lucy_(Australopithecus) ).
Hmm not as far as we know. though it depends what you define as humanoid. As Suzanne said there were many hominids in the past, Homo erectus being one of he first to walk on hind legs. Anything in the primate family will be close to us but outside of that not really. Maybe in space who knows.
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