Yeah, I think it's a little confusing as well. But, basically if Zenefits manages all of your benefits, Self Driving Payroll will be your best bet. If you offer a benefit that Zenefits doesn't manage, you'll need to go Pro.
One example would be if your company is offering benefits not managed through Zenefits, such as an outside 401k plan or something. In those cases you'd want to make custom deductions for the 401k plan. (I don't work for Zenefits but I do work in the industry).
Self Driving Payroll will work perfectly in this case. If you don't offer Benefits, use Zenefits for onboarding and keeping track of your employee info (also free), and have self driving payroll take care of your payroll for free.