Is there a difference between universal references and forwarding references?

Solution 1:

Do they mean the same thing?

Universal reference was a term Scott Meyers coined to describe the concept of taking an rvalue reference to a cv-unqualified template parameter, which can then be deduced as either a value or an lvalue reference.

At the time the C++ standard didn't have a special term for this, which was an oversight in C++11 and makes it hard to teach. This oversight was remedied by N4164, which added the following definition to [temp.deduct]:

A forwarding reference is an rvalue reference to a cv-unqualified template parameter. If P is a forwarding reference and the argument is an lvalue, the type “lvalue reference to A” is used in place of A for type deduction.

Hence, the two mean the same thing, and the current C++ standard term is forwarding reference. The paper itself articulates why "forwarding reference" is a better term than "universal reference."

Is it only a forwarding reference if the function body calls std::forward?

Nope, what you do with a forwarding reference is irrelevant to the name. The concept forwarding reference simply refers to how the type T is deduced in:

template <class T> void foo(T&& ); // <== 

It does not need to be subsequently forwarded .

Solution 2:

Unfortunately, it's confusing, but they are nothing more than two names for the same thing.
Universal reference was proposed (I guess) by Meyers far ago (see here as an example).
Forwarding reference is picked up directly from the standardese. That's all.