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I think the difference is perspective. One is task oriented and the other is about internal motivation. They're not contradictory. Someone can shoot a criminal to "stop the threat" because he "feared for the lives of his wife and children."

Compare that to someone who shoots to "stop the threat" because he didn't like the way someone looked at him, or someone who shoots to kill an intruder because he "feared for the lives of his wife and children" and puts three more rounds into the unconscious body because he was still afraid.