to burn with feeling over an exclusive claim: to be jealous, zealous, or envious depending on whether the claim is rightful and how it is expressed
At its heart this word names one strong emotion, not several: the fire a person feels when something they hold as rightfully theirs, a spouse, a people, a God, an honor, is threatened, rivaled, or possessed by someone else. English has no single word for that fire, so it splits the word three ways depending on who feels it and why.
When the fire guards a bond that truly belongs to the person, English calls it jealousy (a husband over his wife) or, when it is noble and God-directed, zeal (Phinehas and Elijah burning for God, and God himself burning for his people and his name). When the same fire is aimed instead at someone else's advantage, coveting what is not one's own, English calls it envy (Rachel over her sister, Joseph's brothers over him, the fretful longing to have what the wicked seem to enjoy).
The shades are held together by that single inner heat over an exclusive claim. What decides whether it reads as devotion or as sin is whether the claim is genuinely the person's to make. So the wisdom writers repeatedly warn against the envious version (do not burn over the wicked and their gains), while the same verb, turned toward God, becomes one of the highest words for holy passion in the Old Testament.