Vamos seguir as definições aqui:
Do dicionário "Memória Alfa":
As generally understood by the United Federation of Planets, a humanoid is an intelligent, bilaterally symmetrical, bipedal lifeform in possession of an upright posture, two arms, two legs, hands, feet, one thorax, a neck, and a head with a brain located in it. Source
Como podemos concordar que os drones Borg parecem humanos, a chave aqui é a palavra "forma de vida":
A lifeform is simply any living entity or organism. The study of lifeforms is known as biology, and, when dealing with alien lifeforms, could be further sub-categorized into xenobiology and xenology[...] A lifeform was not necessarily organic — which was to say carbon-based.source
Como não temos a definição do termo "vida" no século 24, podemos usar nossa definição atual:
not dead, having life, currently active or being used; having the form of a person who is alive source
colocando essas três coisas juntas, Borg se encaixa perfeitamente nessas definições, já que elas estão vivas - > então eles são forma de vida - > eles têm forma humanóide (definição do século XXI) = > eles são humanóides de Star Trek.
QED.