Page and Modular components both are JSPs in the end. But the difference ...
A page component is a component that is used as a container component to include other Jsps in them. They are actual pages. And we use templates to point to these pages.
For Example, in WCM when you do create New Page, you see a list of templates, those templates point to components these are page components. you may have surely created them. they extend foundation/components/page. These components usually have parsys in them. This enables us to drag and drop modular components inside Page components
Modular Components : These are also JSP's but they won't appear in the page template list when you create a new page in WCM.
These are components that are seen usually in the side kick . Eg, text component, image component, these are all in the JSP's but they are not used individually. You drag and drop these components inside Page components.
And when you right click them you get a configuration page (Dialog). You use this dialog to configure the component.