Those who don’t understand exposure tend to use the term “under exposure” when they are trying to express that the image looks darker than they would like.
This is an incorrect use, and leads to confusion about how to best resolve the image lightness problem.
Those who shoot JPEG, may say “under exposure” when they have have set the ISO too low for the exposure.
Let's see if I can explain it another way.
* With reversal film (slides), an image that was too dark would indeed indicate underexposure.
* For ordinary prints from a photoprocessing lab, underexposed images would probably NOT look too dark. They would simply be lacking in contrast and too noisy. The negative would actually look too
light. The dark parts of the image in the positive would look too light in the negative, with no detail or too little detail.
* With digital photography, the appearance of underexposed images depends on the camera settings and any editing that may have been done. Even jpegs straight from the camera may or may not appear too dark, depending on the ISO setting. Depending on how dark they are presented, they may or may not appear noisy.