They are different. Here is an example from my project.
Try Get http://localhost:3000/phone-numbers/1/relationships/contact you will get response like this:
{
  "links": {
    "self": "http://localhost:3000/phone-numbers/1/relationships/contact",
    "related": "http://localhost:3000/phone-numbers/1/contact"
  },
  "data": {
    "type": "contacts",
    "id": "1"
  }
}
You didn't get the attributes and relationships which is probably you want to retrieve. 
Then
Try Get http://localhost:3000/phone-numbers/1/contact you will get response like this:
{
  "data": {
    "id": "1",
    "type": "contacts",
    "links": {
      "self": "http://localhost:3000/contacts/1"
    },
    "attributes": {
      "name-first": "John",
      "name-last": "Doe",
      "email": "john.doe@boring.test",
      "twitter": null
    },
    "relationships": {
      "phone-numbers": {
        "links": {
          "self": "http://localhost:3000/contacts/1/relationships/phone-numbers",
          "related": "http://localhost:3000/contacts/1/phone-numbers"
        }
      }
    }
  }
}
You can see you retrieved all the information you want, including the attributes and relationships.
But you should know that relationships can be used for some purpose. Please read http://jsonapi.org/format/#crud-updating-to-one-relationships as a sample.