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Yes we are apes. All these, including us, are part of the Hominoidea superfamily. The orangutans (pongo) are an earlier split though. It used to be thought that we split with these guys at an earlier ancestor, but we now know this isn't the case.
http://en.wikipedia.org/wiki/Apes#Changes_in_taxonomy This stuff is actually extremely well worked out now thanks to genomic taxonomy. There are folk that obsess over differences in the DNA of different hamster species.