Monk is generally considered the better of the two currently because of it's high personal damage while still bringing party utility in the form of Brotherhood and Mantra, and easily benefits from the classic raid jobs of Dragoon, Bard, and Scholar all providing boosts to critical hit.

Samurai is still in kind of an odd place where they wanted to create a selfish DPS, but they haven't pushed the numbers on the job quite enough to make up for its lack of utility, especially when compared to its monk counterpart. Still a solid job regardless. Also more beginner friendly both given it's higher starting level and simpler rotation.

Monk and Samurai are comparable in the limited time they have on job buffs, greased lightning in the case of monk, shifu and jinpu in the case of Samurai. Monk has more tools to manage maintaining greased lightning, but also a much shorter window in which to execute combos to keep it up, meaning a monk has to know a raid fight more intricately than a samurai in order to maintain maximum damage.

Comparing the types of damage, they both do high single target damage, and I would argue that while samurai is more readily able to deal large AOE, it suffers from TP management. While both jobs can take invigorate, monk has a second built-in TP refresh making it easier for large-pull dungeon scenarios. As far as burst, I could be wrong here, but monk seems the more burst heavy job as you will want to time, as much as possible, hard hitting moves to be executed under the Riddle of Fire window. The closest thing I can think of to a burst window for Samurai is when you start dumping a lot of Kenki after using Hagakure, but it's not massive burst.