A horseback matador is a rejoneador. He fights bulls from expensive and specially trained horses. That is different than a picador. The picador is the torero whose job is to weaken the tossing muscle of the bull. He does not kill the bull and, therefore, is not a matador.
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Torero is the name given to anyone who fights a bull. A matador is a torero who performs the faenawith his muleta and then kills the bull. All matadores are toreros but not all toreros are matadores.
Torero is the name given to all those involved in the bullfight and includes:Picadores - the men on horseback that use lances to weaken the bull's tossing muscles in the neck.
Banderilleros - the torero who assists the matador in the ring and places the decorated, barbed sticks called banderillas.
Matador - the main participant who must artistically work the bull and kill it.
A rejoneador is a torero who fights the bull from horseback rather than on foot as would a matador.