Most western European cultures believed that until Galileo showed them different through astronomy and the invention of functional telescopes.
He believed in Heliocentrism (That the sun was the centre of the universe, not Earth).
They believed that the Earth was the centre of the universe even after Galileo presented his idea. It was later proven that the sun was the centre of the universe.
I'm not too sure Aristotle even contemplated what was in the centre of the Earth.He may have believed that the Earth was at the centre of the Universe.
They believed in a heliocentric universe. This meaning that the earth was not the center of the universe, but that the sun was. However, many people , including the church, did not agree with this theory. Instead they believed in a geocentric universe. Plato and Aristotle believed in this theory.
According to Aristotle the Universe is a sphere and Earth is at the centre.
Copernicus suggested a heliocentric model of the universe. Meaning, the earth was the centre of the universe and other planets had to orbit around the earth. This model of the universe was against Ptolemy's model of a geocentric model; a stationary Earth at the centre of the universe.
Earth
... because they thought they were the most important in the universe and the only things in the universe so they thought they were in they centre.
The geocentric modelof the universe stated that the earth was at the centre of the universe.
They believed in a universe with the Earth at the centre because the scriptures said that. At the start the Earth was the universe, and the sky was only a part of it. They had no reason to disbelieve the geocentric theory until adequate proof came that the Sun is at the centre, after Kepler's work on planetary observations and Newton's theoretical discoveries.
Pythagoras
Aristotle