"Parental responsibility" vs "custody": Should we change the national narrative?

Do semantics matter? Does it matter if we say “custody’ vs “parental decision making authority”? What does “custody” even mean? I think it refers to decisional authority over someone. So is it better to use the term “parental decision making authority,”¬† or is “custody’ simpler? I say K.I.S.S.: ¬†Keep it short and simple. What do you think?