No</b/>, it doesn't.

The show didn't explicitly said their minotaurs were half men so it's open for interpretation.
For all we know they could be half gorilla (or some other creature with hands).

Still doesn't explain those teeny-tiny hands besides being an artistic choice though…

Then again Lauren said they don't hammer logic much into the show so maybe we're just over thinking stuff but hey, at least we've gone something to talk about.