At the least, you should delete the second as from the first sentence. You may even want to delete either we or humans.
Change the hyphens to dashes or just replace them with commas.
It be is no less “passive voice” (it isn’t, but I know some idjits will insist it is anyway) than it is, and neither is actually necessary in that sentence. Consider changing that part to just whether lies, stories, or jokes.
As it turns out, everything we make up, whether lies, stories, or jokes, is a true event somewhere in the universe. We unknowingly pick them up like radio waves, and mistakenly assume they’re creations of our own minds. And we’re the only species in the universe that can do so.
(What do you mean, unknowingly, kid? 🙂 I now direct your attention to an anecdote/joke I shared a few years ago… Anyway, I’m not sure how I feel about the story concept from the example. On one hand, it suggests that there’s no such thing as real creativity among humans, which is untrue. On the other hand, it’s a variation on ‘Everything is real somewhere,’ and I like that.)