Most people name their pet after a family member. My mum named her first dog William, as she was there will her uncle Bill (real name William), and I named my current dog after that William. He is William II. But the more common pet names are Lucky and Fluffy, ones like that.
"Millie" would be a cute and fitting name for a pet millipede.
Bluebell.
Taco
rosco
Hedwig
Tina
BUBBLES!!
Lee lee
scooter vile
horsesitting and petsitting
A good name could be Pet Savers
really i think you should name your pet by its personality.