Digital twins of the Earth are digital representations of the Earth system, spanning scales and domains. Their purpose is to monitor, forecast and assess the Earth system and the consequences of human interventions on the Earth system. Providing users with the capability to interact with and interrogate the system, digital twins of the Earth are decision support systems for addressing environmental challenges. By informing humans of their impact on the Earth system, digital twins aspire to promote new pathways moving forward. By answering causal queries through intervention analysis, they can enhance evidence-based policy making. Existing digital twins of the Earth are primarily technological information systems that represent the physical world. However, as the social and physical worlds are intrinsically interconnected, we argue that humans must be accounted for both within and outside digital twins of the Earth: Within twins to represent human impacts and responses that are integral to the Earth system; and outside twins to govern access and development and to guide responsible use of information acquired from twins. Incorporating human interactions in digital twins of the Earth represents a transformative frontier, promising unparalleled insights into Earth system dynamics and empower humans for action.