counsel vs urge

counsel and urge both are nouns.

Word	Noun	Adjective	Verb	Adverb
counsel	Yes	No	Yes	No
urge	Yes	No	Yes	No

As verbs, urge is a hyponym of counsel; that is, urge is a word with a more specific, narrower meaning than counsel:

counsel (noun)	urge (noun)
something that provides direction or advice as to a decision or course of action	a strong restless desire
a lawyer who pleads cases in court	an instinctive motive

counsel (verb)	urge (verb)
give advice to	force or impel in an indicated direction
	spur on or encourage especially by cheers and shouts
	push for something