Concerning God, paniniwala = pananalig = pagtitiwala = pananampalataya.
People who pray to God (nananampalataya sa Diyos) believe and trust God (have faith in God).
Magtitiwala sa Diyos = trusting God in the future = not a true faith in God,
Concerning humans, pagtitiwala (trust) = paniniwala (belief) but paniniwala ≠ pagtitiwala.
It is possible to believe what somebody is saying without having trust.