They used the German terms. Are you arguing about early translations?

Basically, just because the words are constructed the same, doesn't mean you can translate one direct part-by-part into the other.

For a similar example of the principle that logical structure doesn't translate naively one-for-one:

"Du darfst schlafen." <-> "You may sleep."

"Du musst schlafen." <-> "You must sleep."

"Du darfst nicht schlafen." <-> "You must not sleep."

"Du musst nicht schlafen." <-> "You may not sleep." [Though this last one is ambiguous in English.]

Dare is a model verb too in English

*semi-modal (I meant to type modal originally), but not originally a cognate with dürfen.