When naming tables, you have two options – to use the singular for the table name or to use a plural. My suggestion would be to always go with names in the singular. If you're naming entities that represent real-world facts, you should use nouns. These are tables like employee, customer, city, and country.
It's a pretty established convention that database table names, in SQL at least, should be singular. SELECT * FROM user; See this question and discussion. It's also a pretty established convention that RESTful API resource names should be plural.
There are four main types of JOINs in SQL: INNER JOIN, OUTER JOIN, CROSS JOIN, and SELF JOIN.
It seems like the mapping table is storing all the roles that each user is a member of.  If this is correct I would call the table UserRoles.
This correctly (IMO) pluralizes the intent of the table rather than UsersRoles which just sounds odd.
I'd call the users table User, the roles table Role and the join table UserRoles.
By the way, the pk Id is not really necessary in a join table. Better make the UserId and RoleId together the pk or just uk (unique key) so that you can ensure unique User-Role relationships.
I would suggest simply UsersRoles, as that is what it holds.
User or Users? What about things that end in an S? etc" (I would change this now if you just started the project)User, Role, and the xref table: UserRole.UserRole makes much more sense than RoleUser.User_X_Role or UserXRole as well, if you like the extra verbosityThe database represents am enterprise, right? So what do the people in that enterprise call the relationship?
Here are some I do know:
employee reports to line manager == org chart
student takes course == enrolment
woman marries man == marriages
When in doubt, ask a domain expert within the enterprise.
I'd call the link table this:
Remove_The_Surrogate_Primary_Key_From_The_Link_Table_Unless_You_Can_Prove_That_You_Really_Need_One
    We have the same structure and call the link table UserRoles.
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