This week's giveaway is in the EJB and other Java EE Technologies forum. We're giving away four copies of EJB 3 in Action and have Debu Panda, Reza Rahman, Ryan Cuprak, and Michael Remijan on-line! See this thread for details.
No, the web service development model has not changed between the versions you mention.
If you develop an annotated POJO using JAX-WS, then it will be "wrapped" in a servlet - thus this is called a servlet endpoint.
I strongly suspect an EJB annotated with JAX-WS annotation(s) will, in a similar way, also be wrapped in a servlet. However, since it is an EJB that contains the service endpoint implementation, this is called an EJB endpoint.
You do not need to implement the servlet in either of the above cases - it is provided by the JAX-WS web service implementation.