Not at all. It always looked like something in between for me. Humanity is still struggling but moving forward, and most people live under various kind of regimes but no big bad Empire.
Well the belters have it pretty rough and Mars is basically totalitarian. And without spoiling anything I'd suggest you keep reading, it is worth it :).
I have a question for you, fancy pantsy book reader on their own instance: should I watch the show and then read the books, read the books and then watch the show, or read the books and skip the show?
Doesn't really matter as the show ends three books short. You probably want to read them though rather than try and pick up from book 7 after the show as lots of characters were changed a bit in the show and one is killed due to off screen drama who should survive.
Well my pants aren't fancy at all thank you very much :p.
The show is great, and so are the books. Mostly I would start by watching the show which is, for the first season at least, much more polished imho (the writers of the book were also show runners). After that, the show ends at book 6 (there are 9 total) but several character arcs are tweaked so I would recommend reading at least books 3 to 6 before 7.
The books came much earlier than the show. What they meant was that the showrunners involved the writers of the books in the production of the show, which resulted in a much more faithful adaptation than is usual for these things.
Watch the show and then read the books. In my opinion the show is fantastic and incredibly enjoyable (except for ending the series in what is obviously the middle of a significant plot thread, which is annoying) but the books are even better and spoiled the show a tinsy bit for me.