This was mainly the Waffen-SS which was only built up during the war, the SS as a whole was responsible for the worst atrocities in the occupied areas and within Germany (for instance running the extermination camps).
(also, Himmler was both head of the SS and Gestapo by 1934, I guess there wasn't much of a distinction between the two organizations)
The army itself had ethnic cleansing as one of the goals too. I mention this mostly because after war there was tendency to blame everything on SSand create myth of "clean" Wehrmacht. Because that felt better to Germans.
Gestapo was literally professional police. They were people who did criminal inveatigations prior and repurposed many of the same tactic. That is massive difference.
You never seen them at battlefield. It was organized, effective, produced bureaucracy. They were police force.
They did not run camps, tho they could send people there.
They did, keyword "AEL". Plenty Gestapo were SS-members too. Yes, there were some differences, but in many areas they did plenty of the same things, and were different parts of overall the same system.
Article: https://en.wikipedia.org/wiki/Albert_Speer#The_Speer_myth
They believed they are doing the right thing or simply the job. They were convinced they are the good ones. Tho, these two are massively different organizations. SS were not secret police, they were basically army doing a lot of actual combat.
Gestapo would be closer equivalent of NKVD.