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He's a hero but he is not someone who sets out to be a hero, and that is why he doesn't consider himself one. Luffy isn't traveling the world looking to help or save people, but he is the kind of person who can't turn a blind eye to injustice. In Luffy's options a hero is someone who seeks justice for selfless reasons, while he on the other hand only seeks justice when directly confronted with injustice that he can't overlook. He stumbles onto problems that he solves instead of seeking them out. Take the World Government, despite knowing about a lot of the bad things they have done and being directly opposed to them, he isn't trying to stop them and only gets involved when they affect him first. Enies Lobby, Marine Ford, Egg Head, and Elbaf Luffy only acts because he was provoked. If the Knights did not show up at Elbaf he was perfectly willing to continue on his journey to find the One Piece despite everything that happened at Egghead. If Luffy was a hero in the way he describes it, he would be actively trying to stop the World Government, but he doesn't because he is not a "hero". Luffy isn't going to openly hand out meat to everyone for the sake of it, but he will hand it out to someone who has none.

I think Luffy is just like how I interpret Sonic: a hero by nature but doesn't recognize himself as such. He just does whatever he wants, and coincidentally those things he does are good, heroic things. It's more like this: he's someone who does heroic stuff, but isn't a hero. For example, just in Luffy's case now, he knows what the WG and Celestial Dragons do, but isn't actively trying to stop them like a hero would do, unless they cross his path or hurt his friends. He's not going to, I don't know, attack Mary Geoise instead of continuing his journey to find the One Piece even if people are suffering there — if, hypothetically, Vivi is captured by Imu, however, he will go there immediately and destroy that entire castle, because she's his friend. That's how I see his character, at least.