I've always assumed that's where it comes from, since Star Trek makes a huge ass deal about "sentient beings" but only uses the term to refer to self-aware entities, not animals.

Though now I'm imagining Prime truly meaning all sensate life, and joining the ALF.

And then the ALF releases one of their crazy videos, and all the humans have ski masks on, and there's this HUGE ASS robot in the back ground with a beach blanket over his head. 'Cause that's totes keeping his identity a secret, LOL.