Tauros in greek is bull, yeah. The minotaur was the Bull of Minos. It may link back to the pre-greek people of crete, known for bull-leaping.
The “ken” in “Kentauros” is thought to mean piercing, but why is a piercing bull a half man/horse? There’s no obvious explanation.
I love the idea of -tauros coming to mean a monstrous combination, like franken- in english. But if there were any evidence of that some very excited nerds would’ve told us, I’m sure.
It’s already illegal. Unless the rich do it, of course.