Without any ancient aliens theories, were there ancient people that believed their gods created other intelligent life on other planets like their own but those aliens were like us in the same way that we invision extraterrestrial life today?
I'm afraid the previous poster may have slightly missed the mark on this question.
Lucretius, writing in the 1st century BC, professes belief in the probability of alien life in De Rerum Natura (II.1055-7; 1074-8): "It is in the highest degree unlikely that this earth and sky is the only one to have been created ... Nothing in the universe is the only one of its kind, unique and solitary in its birth and growth ... You are bound therefore to acknowledge that in other regions there are other earths and various tribes of men and breeds of beasts." This conclusion proceeded from his atomist physical theory and materialistic monism.
Additionally, Plutarch (in his Dialogue On the Apparent Face in the Orb of the Moon) professes belief in some sort of people living on the moon.
Lucian of Samosata's satirical fiction True History involves its protagonists being whisked away up to the surface of the moon, where they not only interact with alien life-forms but witness an interplanetary war of colonisation.
Speaking of the Western world (i.e. Europe and the Greco-Roman tradition), people didn't even know that the planets were solid bodies until the 1600s. In the Ptolemaic system, the Earth was orbited by the sun, the moon, the five "wandering stars" (aster planetes), and the globe of "fixed stars" (which seem to move all together, because they're so far away). Galileo, with his revolutionary telescope, made the astonishing discovery that Venus undergoes phases, like the Moon, and therefore does not produce its own light.
Now, in the previous century (and the same peninsula) there was a renegade Dominican friar named Giordano Bruno. In "On the Infinite Universe and Worlds" (1584), he posited that the Earth was not the center of the universe, nor was the sun, but that the universe, as the title suggests, was infinite and had no center. He entertained the possibility that there could be infinite inhabited worlds as well. These are a couple of his many "heresies" (God sacrificed his only begotten son, not his infinite begotten sons), which eventually led him to be tried by the Inquisition and burned at the stake.