A more thorough explanation:

Definition: Milites are soldiers or members of the military. In Roman law, they were soldiers. In medieval times, knights who were part of the royal army were also called milites because they had to attend the king in his wars or pay a fine. In Scots law, freeholders who held estates from barons for military service were also called milites.

• During the Roman Empire, milites were highly trained soldiers who fought in battles and protected the empire.
• In medieval times, knights who were milites had to attend the king in his wars or pay a fine. For example, if a knight held a knight's fee under the crown, he was obliged to be knighted and attend the king in his wars.
• In Scots law, milites were freeholders who held estates from barons for military service. They had to serve in the military when called upon by their barons.

The examples illustrate how milites were soldiers or knights who had to serve in the military. They were obligated to attend the king in his wars or pay a fine. In Scots law, milites were freeholders who held estates from barons for military service.