When do people gain their humanity?

Okay here we go... what separates us from animals would be our state of life and mind. Marlow's  hierarchy of needs explains that we aim to accomplish different levels of accomplishments. We start off on the first two levels which are our basic needs of sustaining life through food, water, shelter, security, etc. On that level we are equal with animals. After that we branch out into the third section: love and belonging, or having close friends, family and sexual intimacy (boyfriend/girlfriend). Most people find success here and those who don't either fade away or skip that level to find it later. Others who do succeed here will not continue on, this is what our society glorifies. We are built around relationships and pleasing ourselves through these relationships. We think this is all there is too life and stop, most people don't go on because they want to "fit in". Those who do go on though find happiness in themselves, not in others, meaning we work to better ourselves and don't care if others disagree with it because we are comfortable in who we are. These people usually seek to help anyone who is trying to reach this level, and they respect others even if they are not as far along than themselves. People usually spend most of their lives in this level (or below it), but if you master it, you can then reach out to discover the world and learn and love everything about it: this is self actualization. When you don't have to worry about your own insecurities, or others, and you can focus on the world around you. That is when you have figured yourself out perfectly. To answer this question: humanity is achieved once we develop relationships, but humanity can then be developed and progressed through further introspection and discovery on who we are and how we want to live.