First let's clarify telepathy, which is the name of the ability Charles has
Telepathy (from the Greek τῆλε, tele meaning "distant" and πάθος,
pathos or -patheia meaning "feeling, perception, passion, affliction,
experience") is the purported transmission of information from
one person to another without using any of our known sensory channels
or physical interaction. The term was coined in 1882 by the classical
scholar Frederic W. H. Myers, a founder of the Society for
Psychical Research, and has remained more popular than the earlier
expression thought-transference. https://en.wikipedia.org/wiki/Telepathy
Charles Xavier -
Professor Charles Francis Xavier (also known as Professor X) is a
fictional character appearing in American comic books published by
Marvel Comics and is the founder and leader of the X-Men. Created by
writer Stan Lee and artist Jack Kirby, the character first appeared in
The X-Men #1 (September 1963).
Xavier is a member of a subspecies of humans known as mutants, who are
born with superhuman abilities. The founder of the X-Men, Xavier is an
exceptionally powerful telepath who can read and control the minds of
others. He runs a private school in Westchester County, New York to
both shelter and train mutants from around the world. Xavier also
fights to serve a greater good by promoting peaceful coexistence and
equality between humans and mutants in a world where zealous
anti-mutant bigotry is widespread.
So by putting these things together it appears a "telepath" TRADITIONALLY works when one person has an ability of controlling the mind(s) of someone else. I'm not sure if there is a word for the idea of someone being able to control their own body through their own mind, but clearly telepathy is about the opposing idea, which is what Charles is.
As for low level kenetics on objects, I guess we have to assume that this is somewhat separate ability and that these objects (usually) do not have a mind so it might be a moot argument--where one's own leg is usually apart of one's own neurological system so it might require mind control...
However, spoiler alert:
David Haller/Legion might be a mutant that does have the capacity for something like that, because he can pick up various kinds of [kinetic] abilities through mind-merging with other mutants --in the TV show version, he has started to do this in part, because he can share conscious space with others on a pre-existing astral plane (Oliver Bird) and because of the abilities of the Shadow King. The Astral Plane might be a way for character to be able to astral project their own mind or memories (memory = perception of reality) into reality that they can exist within, which David clearly can do in the TV series, along with other characters also able to explore/control his mind dreamscape.
So I did a little more "general" research on 'controlling ones own body kinetically'. One super hero term on this ability is sometimes called, Self-Manipulative Puppetry
The power to control the user's own motor functions regardless of what
state their body is in. Sub-power of Puppet Mastery. Variation of
Motor-Skill Manipulation. Not to be confused with Self-Puppetry.http://powerlisting.wikia.com/wiki/Self-Manipulative_Puppetry
The website I provided shows other similar related abilities and lists characters in popular comic culture with said ability. Charles Xavier is NOT on there.