Difference between auth0-js and auth0-spa-js

Having a tough time deciding which of these I should use:

I am creating a react application and am using auth0 for authentication. Right now I am using universal authentication, but am planning on eventually customizing it so that the user isn’t redirected and can use auth0 from the website/ have the login on the website directly.

So I think I understand it more based on this article.

Still not sure how to get access to the access_token this way to interact and post to my database or get information back from my database.

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