Hi Peter,
In MOST of cases, if you want to express that you WANT TO DO SOMETHING, they mean exactly the same thing. We would be splitting hairs to tell the subtle difference between them, (haha...hair was so thin and so fine that it would be a waste of time to try to split it.)
我想+ verb = 我要+ verb =我想要+ verb
我想吃苹果=我要吃苹果=我想要吃苹果 they mean the same thing and they are interchangeble.
Keep in mind that they are NOT interchangeble if they are following by a noun,
我想苹果 ≠ 我要苹果
我想苹果(in most of cases it doesn't make any sense)
我要苹果(you say this to response the question"Which would you like to eat? an apple or an orange")
我想你≠ 我要你(我想要你)
我想你: i miss you
我要你=我想要你: i want to have a sex with you (Be careful to use them:) )