Is emulating human behavior really a valuable end goal though? Humans exist as the evolutionary endpoint of exhaustion hunting large pray and organic tool-making. We've built loads of industrial and residential automation tools in the last 100 years and none of them are humanoid. I'd imagine a household robot butler would be more like R2D2 with lots and lots of arms.
Every single behavior? For sure not but otherwise we are the result of a very very long evolution and there is nothing else around us as smart and as adjustable.
The planing ahead thing through simulation for example seems to be a very good tool in neuronal network based architectures.
It is when the world was made to interface with us. We can't use robots for everything if they aren't emulating us, because we would have to adapt everything for the non-humanlike robots.