How did dependent peasants differ from Roman slaves?

In Antiquity, there was a dependent population – slaves. They did not have elementary rights and freedoms. Their owners disposed of slaves as speaking tools. After the 5th century, the Middle Ages came. At this time, there were also people who lost most of their rights and capabilities. They were engaged in work for the feudal lords and paid tribute to the state and their masters. But at the same time, dependent peasants continued to be human. For their death, the feudal lord was supposed to pay a fine. They had a right to life.