In plain words
Among the Vrishnis I am Vasudeva; among the Pandavas I am Dhananjaya; among sages I am Vyasa; among poets and seers I am Ushanas.
Word for word
Among the Vṛṣṇis I am Vāsudeva; among the Pāṇḍavas, Dhanañjaya; among sages also I [am] Vyāsa; among seers, Uśanas the seer.
The commentators
Bhagavadgītābhāṣyam
वृष्णीनां यादवानां वासुदेवः अस्मि अयमेव अहं त्वत्सखः । पाण्डवानां धनञ्जयः
त्वमेव । मुनीनां मननशीलानां सर्वपदार्थज्ञानिनाम् अपि अहं व्यासः, कवीनां क्रान्तदर्शिनाम् उशना कविः अस्मि ॥ ३७ ॥
In plain words
Among the Vṛṣṇis — the Yādavas, that is — I am Vāsudeva: this one, right here, I, your friend. Among the Pāṇḍavas, Dhanañjaya.
That is you yourself. And of the sages — those whose whole temper is reflection, who know what every single thing there is amounts to — of them I am Vyāsa. Of the poets, the ones whose seeing goes clear through, I am Uśanas, the seer.
Close to the Sanskrit
Of the Vṛṣṇis — of the Yādavas — I am Vāsudeva: this very one, I, your friend. Of the Pāṇḍavas, Dhanañjaya.
You yourself. Of the munis — of those whose disposition is reflection, even of the knowers of the meanings of all things — I am Vyāsa; of the poets — of the far-seeing ones — I am Uśanas the seer-poet.