That's a wrong way to think about it, since all modern "humanoids" are descended from the same ancestor not that long ago.
And if you consider dinosaurs humanoid, then so is that meme cat that can walk on its two back legs.
If there was an apex predator in every tree of life, in the "humanoid" shape, and I'm talking "humanoid ants" here, then it would be reasonable to assume that there's something beneficial in the "humanoid" shape that helps long-term survival.
And that's not even taking the majority of lifeforms into account - those in the seas, and greatly discounts birds. We still can't agree on if dolphins and crows are intelligent.
So, no, chances that the "humanoid" shape is somehow special out there are basically 0, since it's not even special here on Earth. We're an accident. Insects, mushrooms, plants - all those life forms are better adapted for mere survival than us (judging by cumulative mass of live organisms).
That's the wrong way to think about it. Nothing is 'better adapted' than anything else. Each is adapted to its own niche. And no accidents really - convergent evolution shows that similar ecological pressures very very often result in similar forms. Witness fish ("there's no such thing as a fish") or trees ("there's no such thing as a tree").
And that dinosaur comment - I don't know what to do with that. Dinosaurs only walked on two legs in internet memes? That's so far wrong I can't comment.
Many convergent evolution paths led to the same similar form, in time. That was the point. If the environmental pressures are similar, the forms may be similar.
