No, those aren't synonyms at all.
If I steer a car to avoid a predicted collision with a wall, this is not me 'predicting' the car. I am steering the car based on a prediction.
If you're assigning steering 70 of your 100 output points because it's what you think we should go with most of the time in this situation, I'm going to call that a prediction of how to steer.
If you're assigning steering 70 of your 100 output points because it's what you think we should go with most of the time in this situation, I'm going to call that a prediction of how to steer.