Believe can mean a whole-hearted (no doubt) trust in something that it is true/certain, or it can mean thinking something to be true/certain.
In other words, believe can be interchanged with "trust" or "think".
"Trust" cannot be interchanged with "think".
Here are examples:
"The family believed in the fireman to save them from their burning house."
"The family trusted in the fireman to save them from their burning house."
"The family believed the candle would not start a fire."
"The family thought the candle would not start a fire."