Yes, those are two separate systems.

Online Return is technically a separate Magento module which is integrated into the Intraship module. You need special login credentials to use Online Return, which are provided by DHL. The customer can print the label on demand by logging in to the shop.

Return Form is just an additional service option for an existing DHL account which needs to be enabled by DHL. Therefore, no additional login details are needed for Magento. The seller can print the return label and put it into the package before shipping.