I am not knowledgeable enough to know all the subtle distinctions here but from the common understanding satyrs are as you describe however I see in some of my books on Roman art that the word is used to describe playful, dancing and lecherous figures with all human characteristics except for pointed ears. They also use the term Faun for the same creatures though again Fauns are commonly thought of as the Roman version of the Greek satyr, to the layman anyway. Fauns attended Faunus, the Roman god who was similar to the Greek Pan but was not usually depicted as half goat as was Pan. There seems to be a blur of Greek and Roman terminology with this stuff and multiple versions of the same creatures but I do not have an explaination for any of it.