We are descended from chimps in the same way that I am descended from my cousin.
Edit: I'm realizing this could be a language barrier. "Descendent" is the inverse of "ancestor". A descendent is directly downward in lineage from an ancestor.
Oh, yeah, maybe that is. So with chimps we share a common ancestor. Even more accurate, chimps are our closest relative species living on earth today, with which we share the more close/recent ancestor.
Edit: I'm realizing this could be a language barrier. "Descendent" is the inverse of "ancestor". A descendent is directly downward in lineage from an ancestor.