> Are the names less than optimal? Yes.
I don't think that's self-evident. The only better alternatives I've ever heard suggested are something like left and right, which I think are probably slightly clearer names for what the functions do, but not significantly so (I don't think "a cons is a thing with a left and right side" is that much more intuitive than "a cons is a thing with two parts called a car and a cdr").
Further, I think in 1959 when most everyone using Lisp was hacking on the implementation itself, names that are mnemonic for what the machine they were actually using is actually doing make sense; I don't think they're clearly sub-optimal now, but I think they were even less so in 1959.