A Denial of Service (DoS) attack includes many kinds of attacks all designed to disrupt services. In addition to DDoS, you can have application layer DoS, advanced persistent DoS, and DoS as a service. Companies will use DoS as a service to stress test their networks.
In short, DDoS is one type of DoS attack – however, DoS can also mean that the attacker used a single node to initiate the attack, instead of using a botnet. Both definitions are correct.