Crude oil and petroleum pretty much mean the same thing - the raw material that is obtained by drilling. It can actually range from a yellowish, light liquid to a very viscous dark material. There are some crude oils that are solid at room temperature and can only be removed from the ground by melting it with high pressure steam which also forces the liquid out of the ground.
The petroleum (the name comes from the Greek words meaning "rock oil") is then subject to any number of processes to get the various gasoline, diesel fuel, home heating fuel, chemical products that we use. Those processes included distillation, cracking, catalytic cracking, alkylation, hydrodesulfurization, hydrodenitrogenation and reforming. A basic book on the petroleum industry would be a good thing to read.