The Full Maintenance is the one that covers oil service (only when the service indicator comes on every ~15,000 miles), scheduled inspections, oxygen sensor, etc. Normal wear and tear is covered too for things like windshield wipers, break pads, air filter, etc.
The Warranty only covers defects that they consider are due to bad manufacturing or early death (e.g., it was supposed to last 4 years but it broke after 1 or 2 years of use).
Usually, if something is bothering you about the car, even if it is minor, bring it to the dealer. Most likely, it will be covered by the warranty.
Note that tires, alignments, balance, and tune-ups are not covered by either warranty or full maintenace unless something covered causes the other to break, i.e., a engine piece recall forces a tune-up.
I hope this helps...