The Eryops was believed to be the last common ancestor of cold-blooded and warm-blooded organisms. It was the common ancestor of Humans and the Voth. (VOY: "Distant Origin")
The Eryops that appeared in "Distant Origin" more closely resembles the Gorgonops, a type of synapsid, which were the ancestors of mammals, not dinosaurs. Also, Eryops lived in the Permian period, not the Devonian, i.e., some 100 million years later.