Fire shrimp are definitely a lot more shy. Cleaner shrimp are like little neurotic methheads. Mine would jump on my hand and go nuts cleaning my nails and stuff any time my hands were in the tank. Also would steal food from my LPS corals mouths.
My fire shrimp in my current tank has a little overhang in the back side he sits in, and comes out when I feed and stuff and isn't "scared" of me or anything, but he isn't on that meth pipe either.