I can only speak first-hand for the 2003-2008 models, but the CE is the base model, and the S is the 'sport' model. That means a body kit in 2003+, but for 2002, it may only have been white-faced gauges and a trim package that included power windows, cruise control, and other stuff. Could also be body-colored interior panels and body-colored mirrors (the CE has black mirrors).
For all intents and purposes, they are the same car.