The genus name Pelargonium is derived from the Greek word pelargos, meaning ‘a stork’, in reference to the fruit which resembles the bill of a stork. The specific epithet, setulosum (Latin) meaning 'with little bristles', refers to the bristle-like hairs which can be seen on the leaves.

Pelargonium setulosum was previously known as P. cardiophyllum but is now referred to under the first-mentioned name. (Cardiophyllum means 'heart-shaped leaves'.) This species is closely related to P. elegans in sharing a similar growth form but differs in the leaf apices which are rounded, the leaves covered in silky hairs and the flowers much larger (petals 25–27 mm long, 13–14 mm wide) than in P. setulosum (leaf apices sharply pointed, leaves covered with fine bristle-like hairs and flowers smaller, petals ± 20 mm long, 6–7 mm wide).

Pelargonium is a large genus and includes about 280 species that occur in Africa, Madagascar, St. Helena, Tristan da Cunha, Asia Minor, Australia and New Zealand. Its centre of diversity is situated in southern Africa and more specifically in the southwestern parts of South Africa. The genus was recently subdivided into four subgenera based on a combination of molecular and morphological characters. Pelargonium setulosum is currently placed in subgenus Pelargonium section Pelargonium.