With 3D touch its a "Harder Press" type of feeling (you don't release).
You can see the difference if you go into:
Settings -> Accessibility -> Touch -> 3D Touch
There is a 3D touch 'test' image... If you push on that image you'll get a pop-up.. if you push HARDER you'll get the 3D touch.
Its has a completely different feeling vs. Haptic Touch.