What is the difference between the S4 and S3 models?

Aesthetically, they are identical, except for the dimensions.
S4: 33x23x4 cm, weight 380 g
S3: 33x20x3 cm, weight 280 g

Can I hit hard?

You can hit hard.
But you have to do it gradually.
You have to get used to tolerating the vibrations.
The Neck-Pro guarantees protection of the neck from direct hits, but the impact is felt.
The person wearing the NECK-PRO S4 or S3 is not a punching bag.

Which protects more S4 or S3?

S4 is more protective because it is longer and more padded
 

Which is better of the two collars?

There's no better collar.
The S4 is designed to be worn while a partner trains in specific exercises with high repetitions and hard punches.
The S3 is smaller and lighter, making it more suitable for light sparring.

Can I use it without a helmet?

Yes but the blows will be felt more strongly on the jaw and chin