Traditionaly there was a split between microprocessors which are designed to drive a bus system with memory and perhipherals and microcontrollers which have processor, perhipherals and memory on one chip.
More recently chips like the ones on the Pi and beaglebone have appeared. These have the core perhipherals on the chip like a microcontroller but unlike a microcontroller they use external memory. The industry calls these chips "SOCs" (which stands for system-on-chip, a name I find somewhat puzzling since an important component of the system is not on the chip).