Thx to @RuiFRibeiro I found some resources on the AskUbuntu site and one of them was pointing to an obsolete cups.org FAQ, which led me to a link that I had missed before: https://www.cups.org/doc/network.html . This page lists the most important differences:
AppSocket Protocol
The AppSocket protocol (sometimes also called the JetDirect protocol, owing to its origins with the HP JetDirect network interfaces) is the simplest, fastest, and generally the most reliable network protocol used for printers. AppSocket printing normally happens over port 9100 and uses the socket URI scheme:
socket://ip-address-or-hostname
Internet Printing Protocol (IPP)
IPP is the only protocol that CUPS supports natively and is supported by most network printers and print servers. IPP printing normally happens over port 631 and uses the http (Windows), ipp, and ipps URI schemes:
http://ip-address-or-hostname:port-number/resource
ipp://ip-address-or-hostname:port-number/resource
ipps://ip-address-or-hostname:port-number/resource
Line Printer Daemon (LPD) Protocol
LPD is the original network printing protocol and is supported by many network printers. Due to limitations in the LPD protocol, we do not recommend using it if the printer or server supports one of the other protocols. LPD printing normally happens over port 515 and uses the lpd URI scheme:
lpd://ip-address-or-hostname/queue