Any member of a species belonging to the genus Homo is a human.
Thus, Neanderthals (classified either as Homo sapiens neanderthalensis - i.e., as a subspecies of Homo sapiens - or as Homo neanderthalensis - i.e., as its own, distinct species within the genus Homo) and Denisovans were both humans.
So were Homo erectus, Homo ergaster, and Homo habilis.
Regards,
They were unique populations separated by differentiation, geography and environment.