Ancestors are organisms that are progenitors to a given population but which do not possess an overlapping gene pool.
Almost every organism including humans that has ever existed has a common ancestor with all other organisms.
Plants, animals and bacteria share a common ancestor, known as LUCA (the Last Universal Common Ancestor). A later common ancestor, LECA, is shared by all eukaryotes (Last Eukaryotic Common Ancestor).
Eukaryotes (including include all the protists, plants, animals, and fungi) organisms share a common ancestor with human, plants and other species such as fungi and algae.