handmaiden vs maidservant

handmaiden and maidservant both are nouns.

Word	Noun	Adjective	Verb	Adverb
handmaiden	Yes	No	No	No
maidservant	Yes	No	No	No

As nouns, maidservant is a hypernym of handmaiden; that is, maidservant is a word with a broader meaning than handmaiden:

Other hypernyms of handmaiden include amah, housemaid, maid.

handmaiden (noun)	maidservant (noun)
a personal maid or female attendant	a female domestic
in a subordinate position