To some extent yes: aesthetics are an important difference :)
Functionally you can do the same things on Socket.io as SockJS (but not the other way around).
Socket.io provides high-level messaging abstractions, including really-high-level things like clustering with the redis backend.
SockJS is only providing a WebSocket abstraction. SockJS has a well defined on-the-wire-http-fallbacks protocol: https://github.com/sockjs/sockjs-protocol and thus there are SockJS server implementations for any language you pick. Finally, SockJS does work behind loadbalancers.
So although the general functionality in Socket.io and SockJS is quite similar, the focus of the projects is different.