It's not exactly the same thing. Encryption at rest on S3 is good, but security is about layers. If you only use that, then you are one mis-configured S3 bucket policy away from exposing your secrets. Bad bucket policies are one of AWS' biggest footguns- plenty of intelligent people have done it before, don't assume it's a mistake you'll never make. It's so easy because S3 is a service that has to make publicly-accessible storage easy to achieve.

KMS keys on the other hand, do not have that use case. If the secrets in your S3 bucket have been encrypted using a KMS key (or better yet, a data key derived from a KMS key) and your bucket is compromised, your secrets are safe as long as the attacker cannot ALSO get access to the KMS key. By all means, enable encryption at rest on S3, but don't make that your only defense.