gesture vs poking

gesture and poking both are nouns.

Word	Noun	Adjective	Verb	Adverb
gesture	Yes	No	Yes	No
poking	Yes	No	No	No

As nouns, poking is a hyponym of gesture; that is, poking is a word with a more specific, narrower meaning than gesture:

gesture: motion of hands or body to emphasize or help to express a thought or feeling
poking: a sharp hand gesture (resembling a blow)

Other hyponyms of gesture include jab, jabbing, poke, thrust, thrusting, mudra, facepalm.

gesture (noun)	poking (noun)
motion of hands or body to emphasize or help to express a thought or feeling	a sharp hand gesture (resembling a blow)
something done as an indication of intention
the use of movements (especially of the hands) to communicate familiar or prearranged signals

gesture (verb)	poking (verb)
show, express or direct through movement