We are dotted around and what all life need for structure, stability and to feed
Everything we know is built on a planet, including ourselves.
Some share the name of what we hold others bear the names of characters of old
Some are named after things we can hold (Mercury, Earth), others after characters (Pluto).
Nomads we fear will make us stray
Nomads in this case are bodies in space (asteroids etc.) that could substantially alter our course or damage the planet irreparably.
or Dwarves will decide to take us away
Dwarves are known for digging too greedily and too deeply.
Our shape is manipulated by those greater than us
A planet's shape is determined by its own gravity which is, of course greater than us.
we only survive untill they make a fuss
And if you believe mass media we're slowly destroying our planet through industry...