The short, simple answer:
SSDs have the manufacture’s recommended free space built in. It’s called provisioning or over-provisioning and is controlled by the drive’s firmware. With the Samsung 850 EVO up, it’s 8% set aside for provisioning. Other, newer SSDs are running about the same.
Older SSDs have more but with garbage collection and TRIM, that much space is no longer considered necessary. This is why you’ll see a capacity of 960GB on one SSD and 1000GB on another, both rated 1T and built with 1024 (more or less). You can allow more if you disagree with the maker of the drive.
HDDs run slower as you approach capacity. 15% is the recommended free space to avoid this.