There is no standard, agreed definition of the difference between the two! If you are new to personal growth and development, counselling can be incredibly helpful. Psychotherapists have a longer training, and they are expected to undergo many years of psychotherapy in the same model(s) that they are offering. A psychotherapist holds the bigger picture of your life, past and present, and focuses on your potential as a person, not just your current difficulties, and this includes all kinds of developmental, mental, emotional, psychospiritual and psychological aspects of your mind and your life. Psychotherapy can be more actively responsive, and counselling can be more reflective.
A psychotherapist has training in developmental psychology and in mental health, and is required to work in mental health as part of their training process. There is also a category of “therapeutic counselling” which is closer to psychotherapy. In practice, different practitioners, whether they be counsellors or psychotherapists, offer a great variety styles of work, and you need to find someone that you resonate with. There is no one who is right for everyone.