There is an universal definition of the word "eskort", but there's also a similar factor between "a normal date" and being a prostitute. They both expect money for company.
When that's said, it's completely different. A prostitute is a girl who mostly barely is making enough to survive, and she is struggling (I can just speak for Norway). A normal girl got job, money, and she doesn't need the money from the guy in the same way that the escort need them.