In the most simplest terms...A Centurion was the leader of a group of Legionnaires. Although many differences it is similar to today's military of Officer and enlisted.
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This ain't much of an answer but go on Google and type centurion in a sentence........ That's pretty much the only way to get a correct sentence....
Australia deployed a regiment of their Centurion tanks to Vietnam.
From Thesaurus.com: "hireling, legionnaire, merc, professional soldier, slave, soldier of fortune, warrior"
If you mean an individual soldier, he was called a "centurion".
There is no difference I know this because I am smart