If you are going to be pedantic, genetically we are not just descended from apes, we are apes. If you look at the evolutionary tree of the apes and monkeys, it makes no sense to consider humans outside the ape group. Chimpanzees and humans are more closely related than Chimpanzees and Gorillas for example.

The only reason we consider humans to be descended from rather than being apes, is that we don't look at the evolutionary tree from the outside. Biologically it makes no sense.