Language is commonly inexact, but it's used to express rich and complex topics.  Perhaps language only can be practical and useful if it's inexact.  In any case, associative descriptions often stand in where exact descriptions might be preferred.  Perhaps the Latin root 'mile', for 1000, is just to suggest the astounding amount of legs millipedes have.  Maybe the term was chosen to suggest an arbitrarily high number of legs.  It's likely the term suggests a rough order of magnitude for the number of legs a millipede could have.  This would contrast with the term 'centipede', for 100, which would have a lesser order of magnitude.  Though both terms are inexact for the quantity of legs these groups of creatures may have, they provide a categorical distinction between two groups of anthropoids which exhibit many legs.
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