'Baniva' originates from an indigenous autonym in the Arawakan language family, commonly recorded as 'Baniwa' by the people themselves and transcribed by European speakers.

'Baniwa' was recorded in Spanish and Portuguese sources as forms such as 'Baniva' or 'Baniua'; these European transcriptions entered English usage as 'Baniva'.

Initially it referred specifically to the people's self-name; over time the term has come to refer both to the ethnic group and to the language they speak.