They’re functionally the same – smoking plant material in that form factor. But I’ve noticed cigarette smokers tend to hold the cigarette facing out, in between their index and middle finger. Whereas someone smoking a joint would more typically hold it towards their palm, between their thumb and middle or index finger.
In my experience joints typically either don’t have a filter or have a handmade filter. They’re delicate, and rolling it between your fingers can open up the end and spill things out. So it’s better to have a more precise grip on them.