The difference is that Imagemagick is a general image processor. It has to do a lot of extra work to deal with all types of images, not just GIF. As such it can not be optimized specifically for GIF as gifsicle is.
However I know from personal experience that gifsicle is limited in its handling of some GIF animations,
especially ones already optimized. for example gifsicle for me failed with some background disposal animations.
IM provides another option, one with more control only. Use what you feel is best.
IM Examples wrote: IM, Gifsicle and InterGIF, all provide such coalescing options to remove their own optimizations, though I cannot guarantee the non-IM applications will coalesce ALL animations correctly. IM will.