Mucus - a slimy substance, typically not miscible with water, secreted by the mucous membranes and glands of animals for lubrication, protection, etc.
mucous - relating to, producing, covered with, or of the nature of mucus.
Simply put, mucus is a noun and mucous is an adjective. So, the actual fluid that comes out of your nose when you are congested is mucus and the linings in your body that secrete mucus are mucous membranes.