"From our vantage point, Mercury and Venus, called inferior planets because their orbits lie between the earth and the sun, appear to oscillate back and forth relative to the sun over a short angular distance, as if attached to it by an invisible extendable cord. For the ancients they were the guardians of the sun, sometimes leading and other times following the great luminary.

By constrast, the superior planets, Mars, Jupiter, and Saturn, possessing orbits outside that of the earth, advance all the way around the sky and occasionally can be seen opposite the sun."

"Ancient people were fascinated with the periodic backward loops turned by Mars every two years."

 (Skywatchers)