Don't know how or why you think 2000 years ago were "medieval times" but let me shock you a little bit; we're as close to what you'd call the middle ages as they were 2000 years ago, give or take a few decades.
It is generally agreed that the Early Middle Ages started at the end of the Western Roman Empire and that'd be around 500 AD. The late Middle Ages were between 1300 and 1500 AD and then slowly transitioned into more modern times after the fall of Constantinople and the end of the Eastern Roman Empire. A lot of what you'd think of as "medieval" lingered on throughout the Renaissance and so on into more modern times.
2000 years ago was Classical Antiquity and would remain so for quite some time yet.