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When he wrote the script, he created backstory for Darth Vader that he could not use at the time. As he finished the script, he also had material that he could not use in the first movie, so he cut the plot into thirds and they became IV, V, and VI. Considering he knew that Vader's story would echo Luke's in the current film, he called it "Episode IV" after it was released and he knew he could make more movies, hoping he would be able to eventually tell the backstory of Anakin Skywalker, which became I, II, and III.