'asclepidoid' originates from New Latin, specifically the word 'Asclepiadoideus', where 'Asclepias' referred to the milkweed genus and the suffix '-oid' (from Greek '-oeidēs') meant 'resembling'.

'asclepidoid' developed from botanical New Latin 'Asclepiadoideus' (formed from 'Asclepias' + '-oideus'), influenced by Ancient Greek 'Asklēpias' (Asclepius, a name used for the plant genus). Over time the form was anglicized to 'asclepidoid' in modern botanical English.

Initially it designated plants affiliated with or resembling the genus Asclepias or the former family Asclepiadaceae; its meaning has remained essentially the same in modern botanical usage—'resembling Asclepias'.