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English word familiar comes from Proto-Indo-European *dʰeh₁-, Latin famula, and later Latin famulus (Serving, servile A servant, slave.)
*dʰeh₁- (Proto-Indo-European)
famula (Latin)
Female slave; maid, handmaiden, maid-servant. Temple attendant.
*famelos (Proto-Italic)
famulus (Latin)
Serving, servile A servant, slave.
familia (Latin)
Family (various senses, see usage notes). Household.
familiaris (Latin)
A friend, familiar acquaintance. A servant, domestic Customary, habitual. Familiar, intimate, friendly. Fitting, appropriate. Of or belonging to one's own self, country, etc.. Of or pertaining to a household or family. Of or pertaining to servants.
familiar (English)
Acquainted.. Inappropriately intimate or friendly.. Intimate or friendly.. Known to one.. Of or pertaining to a family; familial. (obsolete) A close friend.. (obsolete) A member of one's family or household.. An attendant spirit, often in animal form.