A Heliocentric System is a model of the universe that assumes the planets orbit the Sun. This type of model displaced Earth-centered systems (Geocentric Systems), i.e., which suppose planets orbit the Earth, in part, by offering a more straight-forward means of calculating the apparent motion of planets in the Celestial Sphere.
Given the heliocentric system, it was clear some planets were closer to the sun than Earth (called Inferior Planets) and some further (Superior Planets). The inferior planets showed a maximum angle from the sun (Elongation) and the superior planets would reach an angle of 180° from the sun (Conjunction).
Current usage of the terms heliocentric system and Helicentrism (acceptance of such a system) is not consistent regarding whether the terms imply the sun is the center of the entire universe, versus merely the claim that the planets orbit around it. Historically, both sun-centered models and models in which stars were "distant suns" were developed by the ancient Greeks, though neither was favored at the time. The meaning of heliocentric system in this respect seems somewhat moot now, a matter of semantics.