Steal v. 1) to take (another person's property) without permission or legal right and without intending to return it.
Pirate v. 1) use or reproduce (another's work) for profit without permission, usually in contravention of patent or copyright.
They're technically different, but not in the way you put it. For the most part these terms are interchangeable, and as long as the product is copyrighted, even if they want you to pirate it, both are considered crime. It's not about the morality or integrity of doing them, it's about protocol. Whether or not something deserves to be pirated (or "stolen") is another argument entirely.
...one that I'm too lazy to participate in.