The good point that "Matthew" makes is that social workers bring with them the philosophy that has been active from their origin: they see psychological issues within their social context. But he also brings quite a bit of attitude about those whose advanced training brings them higher compensation and influence-- and, perhaps, different philosophy of psychological issues being more reflective of individual perceptions.

"Counselor" also implies a philosophy of advising proactively in current circumstances, rather than a more hands-off philosophy that explores the "why" of perception and behavior. Why I like "Counseling Psychology" a bit more than "Clinical Psychology" is that it combines both philosophies, and de-emphasizes the medical model, while not ignoring it.