If Venus and Mars were habitable and had life on them, do you think they'd have humanoid creatures?

uming we were created from the material on asteroids that crashed into Earth, the chances are pretty good that the other two planets were hit by the same group of asteroids...so if they were also habitable, do you think there's a good chance there'd be intelligent life, similar to ours, on those planets? Also, do you think, that by now, we'd be in contact with the beings on those planets? Communicating through satellites? Ignore what the planets are like now...this is a make-believe scenario.