A queue allows processing of a message by a single consumer. In contrast to queues, topics and subscriptions provide a one-to-many form of communication in a publish and subscribe pattern. It's useful for scaling to large numbers of recipients. Each published message is made available to each subscription registered with the topic. Publisher sends a message to a topic and one or more subscribers receive a copy of the message, depending on filter rules set on these subscriptions.
Reference:
https://docs.microsoft.com/en-us/azure/service-bus-messaging/service-bus-queues-topics-subscriptions