Correct, he did not say we came from monkeys. But rather than explain how it works, it’s quicker for me to use the cousin analogy. Most people aren’t even going to listen long enough to hear the end of that even.
As for the “animal” bit, I’m guessing it’s because of the negative association people have with being compared to an animal. “acted like an animal” and all that. If not, then who knows. I’m sure even they can’t explain it.