The field of social robotics has predominantly focused on humanoid designs, often overlooking the unique opportunities presented by non-humanoid social robots (NHSR). Addressing this gap, this research introduces the HCST-NHSR framework, a Human-Centric Systems Thinking approach aimed at enhancing the design of NHSR environments by integrating user-centered principles and accommodating complex, adaptive interactions. The framework seeks to enrich the design process by incorporating multi-layered complexities that allow for greater system flexibility and a more profound emphasis on user experience. To evaluate its effectiveness, the HCST-NHSR framework was applied using a scenario-based methodology to schematically redesign an intelligent Classroom Environment (iCE), a cutting-edge educational setting that leverages robotic technology to facilitate adaptive and interactive learning experiences. The redesigned iCE’s schematic design was assessed against its original configuration, using qualitative feedback from both users and domain-field experts who evaluated criteria such as usability, engagement, adaptability, and the overall value added by the new design. The results indicate that the HCST-NHSR framework enhances the design by introducing additional layers of complexity and contextual responsiveness, resulting in environments that are more dynamic and better aligned with user needs. Future research should focus on the physical prototyping of both environments, extending empirical testing to diverse contexts and environments, scaling up the sample size, and conducting HRI and usability evaluations. These steps will help validate the framework’s potential to transform NHSR design, offering a robust, human-centric, and adaptable approach that can accommodate the nuanced requirements of different user groups and environmental conditions.