Maybe that kompa is slow music, while semba music is fast.
And that you can dance slow kizomba on kompa, while you dance fast semba on semba
And that you can dance merengue steps on kompa as well as on semba (if you don't know how to dance kizomba, zouk or semba).
On kompa music as wel as kizomba music you can dance zouk.
Don't take the word related to literally in that post. It's just my way of saying those things (music and dances) are tangled or mixed and matched.