According to Wiktionary, the English "servant" has two meanings:
One who serves another, providing help in some manner. (e.g. She is quite the humble servant, the poor in this city owe much to her but she expects nothing.)
One who is hired to perform regular household or other duties, and receives compensation. As opposed to a slave. (e.g. There are three servants in the household, the butler and two maids.)
In Spanish, I have heard several different words for "servant":
What are the differences between these words? Which ones can be used to translate which of the English meanings? Do some have more positive or negative connotations than others? Which is most common?