Can you please tell me the difference between Taqwa and ihsaan, as I understood Taqwa to mean 'God consciousness' and ihsaan to mean 'Allah watching us'' as in perform prayers with ihsaan, but in one of the lectures, Dr. Bilal said both are same.

Please can you clarify.

Taqwa is a general concept and Ihsaan is more specific. Taqwa refers to God-consciousness and Ihsaan means excelling. In term of Taqwa, Ihsaan means reaching a higher level of Taqwa i.e. being conscious that Allah is watching you at all times as if you can see Him.

The definition of Ihsaan is taken from the Hadith of Jibrael, in which he asked the Prophet (ﷺ), “What is Ihsaan?” The Prophet replied, “It is to worship Allah as if you can see Him, and even though you don’t see Him, He sees you.” [1]

Reference:

[1] Arba’een An-Nabawi, Hadith 2