In real-life usage, there is overlap.
According to strict use of the precise definitions, "to kill" is a broad term meaning to take life, while "to murder" is a legal term meaning to take life intentionally and illegally.
Thus, an executioner who kills a criminal who has received a death sentence is a killer, but not a murderer. The executioner is acting legally.
A soldier who kills another soldier in a war is a killer, but not a murderer. The soldier is acting legally.
A person who kills another person by accident, or though carelessness, might not be a murderer. He might be guilty of some lesser offense like "manslaughter" or "negligent homicide."