In simplest terms, one is a subset of the other: Servant leadership is one concept of ethical leadership.
Ethical leadership in general is the idea that leaders have ethical responsibilities to their followers, that leadership is not simply the passing down of absolute authoritarian commands from top to bottom. Ethical leadership demands that leaders hold to their own moral values, and also respect the rights and dignity of the people they lead.
Servant leadership is a more specific concept of ethical leadership, on which the reason one becomes a leader is not to command, but to serve---similar to the notion of government officials as "civil servants". A servant leader may issue orders, but only toward the achievement of common goals; they coordinate the actions of others, rather than seeking to control them. They try to ensure the well-being of their subordinates and help them grow in their own lives. The opposite would be something like Nietzche's "will to power", where you command others for the sake of commanding them.
One thing that surprises a lot of managers is that servant leadership is efficient; workers perform much better when they are comfortable and given autonomy. Even if you were a callous psychopath who cared nothing for the well-being of your workers, it might still be rational for you to take on a servant leadership style simply to maximize your company's profits.
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