"Kid" is a casual word for a young girl or boy (if you're not talking about a young goat). And when adults act like children, you might yell at them and say, "Will you grow up and stop acting like kids?"
Parents will sometimes refer to their children as "kids," no matter how old they are.
PARENT: "My kid gives me a headache."
CHILD: "Mom, I'm not a kid anymore! I'm already over 30 [years old]! I can make my own decisions."