The older pre-PCIe SSDs were either a full-size 2.5" SATA SSD, or a smaller mSATA SSD with m standing for 'mini'. These could be mounted on a PCIe card but the SSD itself was not a PCIe device, the card acts as a SATA converter.
The newer PCIe SSDs are also known as NGFF which stands for Next Generation Form Factor these do use the PCIe interface rather than SSD and are therefore faster, because an NGFF SSD is a PCIe device the PCIe card on which you mount it has almost no components on it, it is merely used to convert the connection. The Samsung XP941 is indeed a very fast SSD of this type but has already in theory been superseded by the SM951. There is little real difference between the two and the speed I believe is in the same ball park.
Note: While Apple use an NGFF PCIe SSD in the nMP and MacBook Pro Retina and iMac, they apparently use a slightly different form-factor so the Samsung SSD needs a different PCIe adapter card to that for an Apple SSD. The Apple NGFF cards would need this http://www.pc-adapter.net/products/747.html the Samsung XP941 or SM951 would use an 'M-key' style adapter like this one http://www.pc-adapter.net/products/736.html
There is yet another newer type of SSD called an NVMe or Non Volatile Memory express, apparently the new MacBook Pro 12" uses an NVMe SSD and is so far the only Mac model to do this. See http://www.anandtech.com/show/9136/the-2015-macbook-review/8 and http://appleinsider.com/articles/15/04/11/apple-enables-nvm-express-protocol-for -faster-ssd-performance-with-os-x-10103
The SM951 was originally expected to be an NVMe type SSD but apparently Samsung changed their mind at the last minute. Both NGFF and NVMe are PCIe type SSDs but the main difference is in the protocol they use, NGFF uses AHCI and NVMe uses its own new NVMe protocol which unlike AHCI is designed specifically for SSD drives, AHCI dates back to USB enclosed external hard disks i.e. traditional spinning metal hard disks.
PS. The new Mac Pro of course does not need a PCIe adapter, this is only needed for the classic Mac Pro or a desktop PC. The new Mac Pro still uses the NGFF style not the NVMe style. I am not sure the Samsung ones would fit due to Apple using their own slightly different shape as discussed above.