We do NOT come from the monkeys. As I did not give birth to my cousins (and neither they gave me), none of the living monkeys became human. BUT we have very close relation, they are our cousins. That means we have a common ancestor.
As in modern biology classification, the horse and the donkey are in the same family. And we are in the same family with gorilla, orangutan and chimps because we are relative.
Charles Darwin never wrote that we came from the MODERN monkeys. But some people, who never read his books coincidally misunderstood his theories about human evolution.