Start first with homicide, which is, simply, the killing of a person.
Divide homicide into four types:
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Murder: the killing of a person “with malice aforethought.” Most laymen would think of this as “intentional” killing, though it can also mean killing someone unintentionally, but with such extreme indifference to the possibility of death we won’t bother trying to differentiate it.
1a. First degree: Murder which is done in a premeditated fashion, or while committing certain crimes, usually including robbery, rape, arson, etc.
1b. Second degree: Murder which is done without premeditation, or during the commission of certain lesser crimes. In short, you intend at the time to kill the person, but you didn’t plan it out or go into the confrontation with the pre-formed concept of killing the person.
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Manslaughter: an unlawful killing without “malice.”
2a. Voluntary: Killing during passion without the intent to kill. In short, you are so damn mad you intend to seriously hurt the person, but the person dies.
2b. Involuntary: Killing while committing an act which wouldn’t normally be thought to lead to death. Lines here get hazy, and states have a tendency to lump all sorts of killings into this category which the common law didn’t contemplate. Some states take out of this category killing people during the commission of non-criminal acts and put such killings into the next category.
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Reckless/Negligent Homicide: Killing while committing non-criminal acts without sufficient regard for the possibility of death. An example would be driving a car negligently, but without having committed a felony or misdemeanor in the process.
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Legal Homicide: Killing a person for justifiable reasons, e.g.: in “self-defense.”
This is not by any means intended as an exclusive or exhaustive examination of the topic. It should be sufficient to understand the basic concepts involved in most prosecutions for the killing of a person. In general, society stratifies penalties for killings on the perception that certain behaviours are more heinous than others. For example, to address the specific question in the OP, intentionally killing someone is bad enough, but planning it out in advance is considered worse, because it isn’t the result of the moment, but shows truly depraved thinking. As another example, the current trend towards demonizing driving while under the influence has resulted in many states increasing the penalty for killing someone while engaged in that behaviour.
For one example of how a state classifies the various homicides, see Ohio’s Revised Statutes, specifically Title XXIX, Chapter 2903 et seq.