Once the Lehites arrived in the New World, Nephi, like other people in most ancient societies, divided virtually all of the inhabitants into categories of "them" and "us."
Shortly after the Nephites and Lamanites separated, for example, Jacob -- Nephi's brother -- tells us that anyone who is not a Lamanite and "those who are friendly to Nephi" were called Nephites (Jacob 1:14), whereas those who "seek to destroy the people of Nephi," were called "Lamanites" (v. 13).