Also to note, paso is one of the 5 international latin dances, while bolero is one of the 5 American Ryhthm dances.
You'll rarely see paso outside of competitions. However, bolero can and is danced socially. The bolero basic has the same foot pattern as international rumba, but the technique is very different. It's done to very slow 4-4 music (inter. rumba timing and even slower). On the 1 or side step, you take take a step similar to a side step in waltz...like a sway. It shares some moves with int. rumba as well (spot turns, alemana, hockey stick), but it's definitely a very different dance. Kind of a mixture of ryhthm and smooth all-in-one.