What is the difference between the S4 model and the S3 model?

From an aesthetic point of view they are identical, the dimensions change
S4 cm33x23x4 weight 380 gr
S3 cm 33x20x3 weight 280 gr

Can I hit hard?

You can hit hard.
But you have to do it gradually.
You have to get used to withstanding vibrations.
The Neck-pro guarantees the defense of the neck from direct hits but the impact is perceived
The person wearing the NECK-PRO S4 or S3 is not a punchball

Which protects S4 or S3 more?

S4 is more protective because it is longer and more padded

Which is the better of the two collars?

There is no better collar.
S4 is created to be worn and to train a colleague to carry out specific exercises with many repetitions and violent blows.
S3 is smaller and lighter more suitable to be worn for light sparring

Can i use it without a helmet?

Yes, but the blows will feel stronger on the jaw and chin