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True hibernation is a long-term period of dormancy...weeks, or even months of continuous metabolic slowdown. Going into and out of it takes hours. Very few animals actually hibernate—certain snakes, bees, and bats, as a few examples. They generally stay "asleep" for the entire period, perhaps waking up only rarely to relieve themselves.

Torpor, instead, is much more short-lived, and generally involuntary...when it's cold their metabolism slows down and they conk out, if it warms up they get up and stretch and move around, maybe go find a snack. A lot of "hibernating" animals really just experience torpor during cold nights for a season, but are still somewhat active most days.