DFU restore -> actually reinstalls the latest version of iOS.
Normal restore -> simply remove all data, set to factory default settings.
I'm not aware of a normal restore ever "forgetting" to delete anything, but a DFU restore is generally seen as a "cleaner" restore method as it's as fresh as it gets, whereas normal restore could still leave behind some issues that come from having done an OTA update.
Simply put, DFU restore wipes everything and reinstalls LATEST iOS version, while normal restore deletes everything but the OS, and leaves you on the current iOS version.