SOAP and REST - Conceptually

After reading thousands of articles about SOAP vs. REST, I was more confused about everything than convinced of anything.

Finally, this quote  from Stefan Tilkov made the conceptual difference between SOA(P) and REST very clear to me:

"In REST, you have lots and lots of resources all supporting the same interface; in SOA(P) (at least the wide-spread paradigm), you have few endpoints all supporting different interfaces."