Touch provides a simplified view of sensory endings in the skin. Real skin has a lot more—including endings that detect burning pain, freezing pain, itch, different types of stretch and touch, and the movement of hairs. In response to stimuli, the endings send signals to the brain, and the brain pulls together information from multiple signals to help us understand what's happening on the skin.
Importantly, it's not that the endings read the stimuli differently. Rather each ending responds only to certain types of stimuli.