Romans adopted Heracles as Hercules
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Hercules is a Greek hero. -- The Greek hero was called Heracles. Hercules is simply his Latin (Roman) name.
Hercules
"hercules" - looks and sounds almost equal
The real name for the greek hero "Hercules" was Heracles, but when the Romans invaded and took over the adopted the myth and named the hero Hercules. So Hercules is roman, but Heracles is greek.
He didn't have a Roman counterpart and you are already using his Latin name. In Greek his name was Heracles.