Meanings keep changing as we learn more.
Back when I was a child, the asteroids were thought to be fragments of a large planet that was shattered in some way by its proximity to Jupiter's enormous mass. It was roughly where a planet should be along the series of increasing distances from the Sun exhibited by the other planets. Others thought it was just material that never formed into a single planet because of disruption by the proximity to Jupiter.
But, as we learned more, we found that some large ones were like small planets, having become roughly spherical and probably stratified differentially by core melting, while others were just groups of rock and dust loosely bound together by gravity.
And, then there is Psyche, which looks like the core of a small planet that was shattered, probably by a collision with another small planet, rather then tidal forces from Jupiter.
The theories of our solar system formation have gone from dust coagulating into planets in roughly the positions they now occupy to a much more chaotic process with the major planets moving in towards the Sun and back away from the Sun, along with a much larger number of smaller planets than now exist crashing into each other, plus asteroids (whatever they are) and comets crashing through the solar system adding mass and maybe returning water to the inner planets.
So, I don't really see a problem with calling differentiated spherical bodies "planets" of some types (e.g., small, minor, rocky, gas giants, ice giants, etc. etc.) if those are the best descriptions of what they seem to be. I just think we need to dispense with the idea that planets need to have cleared their orbits of other objects in order to achieve the title.
And, now that we know there are "dark comets" that look like asteroids because they are not giving of gas and blowing off dust, we will probably need to start subdividing "asteroids" into rubble piles, icy somethings, etc., but still distinguish them from "comets" that seem to be mostly ices.
Then what about 1I/ʻOumuamua, that doesn't really seem to fit any of those descriptions? It seemed to change velocity like a comet, but without any visible plume of exhausting gases. Just calling it "interstellar object" doesn't seem satisfactory, because that could fit anything that is coming by at more than escape velocity from the Sun, no matter what it was like.