A hero was a person who was admired or idealized for courage, outstanding achievements, or noble qualities. Being heroic was having the characteristics of a hero.
In 2374, Kyrians had taken Seven of Nine hostage and entered the USS Voyager's mess hall. Ambassador Daleth stated that Captain Kathryn Janeway's crew was heroic after The Doctor suggested going in first to draw any phaser fire if need be. The Doctor clarified that he just happened to be invulnerable to phaser fire, but he appreciated the compliment.
Roughly 700 years later, the holographic program The Voyager Encounter portrayed the Kyrians as martyrs, heroes, and saviors. As a child, Quarren found it very heroic how Voyager was so far from home traveling across the stars. (VOY: "Living Witness")