Something else to keep in mind. Thor is a thousand years old'ish. Since there isn't a canon birthday for him I'm going with "he was an adult when they were a thing on Earth, but not by much" since the adoption of Loki was 960-something years ago. And this is where the legends were started.
So, Thor is seriously old by our standards and he's always been the one in Odin's eyes to take over when he retires or dies. What are the odds that Thor has never been to the negotiation table even once? I'm not saying he's any good at it or even well trained, but I doubt he doesn't know at least the basics.
I think that this is probably correct... But from Thor's viewpoint, we're all (almost
literally) at the level of trained apes. In comparison to Asgard, that is. What I'm trying to say is, why would he bother negotiating when he can just walk through a couple walls and
take it? Sure, he might make a token attempt at being nice and asking for the cube, but when they refuse (
when, not
if), he's going to shrug, say, "Well, I tried, but what can you do? Primitives, amirite?
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", and start breaking things. Because what are they going to do to stop him? Bleed on him?
EDIT: Just thought of a better analogy than apes. Humanity is the hypothetical four-year-old that found Daddy's Glock in the sock drawer, and is now playing around with it in the living room.
Of course Daddy is going to take it away before he hurts someone (or himself), but he'll probably ask us to hand it over first. When we refuse, he'll snatch it out of the kids hands, and probably give him a spanking for the trouble. Then he'll hide the thing where the kid can't get to it. Asgardians are being responsible parents towards their very precocious children, here.