They're definitely quite similar concepts. There is a definition of “counselling” in section 22 of the Criminal Code, I believe, which contains some more verbs and concepts that are quite similar to “counselling”. Counselling might require something a little more pointed than encouraging. They're definitely similar concepts. In criminal law, sometimes there are similar concepts and we use different words for them to ensure that the full range of conduct is conveyed.
There's a similarity and perhaps some overlap between “encouraging” and “counselling”, but they wouldn't be exactly the same thing.