When I view Earth from a distance in my mind, I always think of the North pole as being "up", and South pole as being "down". Yes, I know Earth is tilted, but it's still up/down.
This means my "camera" is always placed in a certain way in this endless void. But it's based on nothing other than my perception that there is a "North" or "up" on Earth.
But why are they referred to as the North/South poles? Did they just pick these at random? Could the South pole just as well have been the North pole to humans?
I don't think it really matters, but it's something which I've often thought about and cannot find the answer to.
Regarding etymology, this is the wrong site for that kind of question.