The Somatic Nervous System carries information from sensory organs to the CNS via sensory neurons(afferent pathways)
The Somatic Nervous System carries info from the CNS to skeletal muscles that causes, often times, voluntary of conscious movement, via the motor neurons (efferent pathways)
The Autonomic Nervous System carries info from the sensory and internal organs through sensory neurons (afferent pathway) to the CNS
The Autonomic Pathway carries information from the CNS through motor neurons (efferent pathways) to internal organs that guide, often times, involuntary or unconscious regulation of organs