It's actually named Francisco de Miranda somebody of historical significance for Venezuela. Miranda is a relatively common surname in Spanish speaking countries. It's also a common female name. And masculine names as surnames are also common. So Miranda usually generates quite a bit of confusion.
And to be specific, Miranda is known as 'El Precursor', Bolivar's precursor, so makes sense as a followon to the Bolivar satellite (Thanks wikipedia!
For the record, Sebastian Francisco de Miranda Rodriguez 'El Precusor' (1750-1816))