In geocentric solar system - everything moves around or above the Earth (flat earth view), at least before Tycho Brahe who attempted to describe his geocentric-heliocentric arrangement to refute Copernicus but this failed too. In the geocentric firmament teaching, everything moves in a circle like Claudius Ptolemy and Tycho Brahe. There were no asteroids in the geocentric solar system and no gravity or elliptical orbits
When Galileo observed the Galilean moons, Galileo did not know about gravity and thought the moons were stars. Asteroids were reported in the early 1800s, using much better, and larger telescopes based upon the heliocentric solar system that features gravity and elliptical orbits so their motion today and orbits are much better defined and tracked.