Catching a bus describes the process of getting to a stop/station, waiting and boarding. Taking a bus describes the entire process, including the journey itself. Much of the time, the distinction isn't important.
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You usually take the same bus everyday to go to school or commute. The time and bus number (or school bus) rarely change. And when you say I will take the bus, an interlocutor can assume or know which bus you are taking.
In Britain, a comfortable bus that carries passengers on long journeys is called a coach. The coach leaves Cardiff at twenty to eight. In America, a vehicle designed for long journeys is usually called a bus.
The word bus is short for omnibus, which means “for everyone.” Bus was first used in this sense in the 1830s, its everyone meaning referencing the fact that anyone could join the coach along its route, unlike with stagecoaches, which had to be pre-booked.