Was the command "Fire" used for launching projectiles before the use of gunpowder?

Battle signals can be given in 3 basic ways:

Optical - mostly by the usage of flags, signals by moving banners or in a similar way. This was useful in large battles as a central command post was capable of monitoring movement of the entire battle line. The problem was it required the soldier receiving orders to keep his eye on the command post or have someone to do so. Thus this was used only in the beginning of a battle. It was and still is used in naval warfare.

Non-verbal acoustic - this was probably the most common type of commands. From literature, we have quite a lot of informations on Roman officers using whistles in battle, we know of the importance of horns (probably the most famous depiction of a knight in European culture is Roland using his signalling horn https://en.wikipedia.org/wiki/The_Song_of_Roland) and if we take in account every minor acoustic signals, we can say that even drummers that many armies still have were used not only to boost morale, but also to give certain signals - if only to keep certain pace.

Verbal - Now this is the core of the questions. Used by lower officers on a short distance to signal the smaller section of an army. These commands could have been either given as basic words and phrases, or combined with other non-verbal signals.

Now to the question about "fire". Before the use of firearms, the most likely command would be for archers to "draw" and immediately after followed by "loose" or "release". Of course in the language soldiers were using. A war bow is extremely hard to draw and hold in the position, thus the idea of archers holding drawn bow for extended period of time is absurd. On the subject of archery in warfare u/Hergrim gave much better answer here https://www.reddit.com/r/AskHistorians/comments/7dqkbm/did_archers_really_nock_draw_and_loose_in_sync/dpzyolt?utm_source=share&utm_medium=web2x

When making a movie or a TV show, one must allow for some creative license in the name of making art. The bad examples are pieces of art getting many things right and creating nonsense scenes later. The best/worst example can be the TV show Game of Thrones, based on pre-gunpowder era Europe. In s06e09 "Battle of the Bastards" Ramsay Bolton is giving commands "loose" to his archers. Sadly, in S08e05 Euron Greyjoy commands his Ballista operator to "fire" ("Foire?"). This is one of the many issues that started happening in later seasons and it nicely illustrates how easy it is to make these kind of mistakes. The show had the same writers for it's entire length.