"Poems" or "poetry"

Poetry refers to the art form itself. Poems means multiple instances of that art form.

Their use can overlap, but there are some instances when only one is appropriate.

Poetry is notoriously difficult.

This means that the art form is difficult to master, i.e., that it is hard to write poetry.

These poems are notoriously difficult.

This means that the poems under discussion are hard to understand.

Here, though, they are essentially interchangeable:

Whitman's poetry focuses on nature.

or

Whitman's poems focus on nature.

My advice would be to use the word poetry when speaking about the art itself, and poems when you have a specific set of poems in mind. This will avoid any confusion.

To me poetry is a literary art. A poem is a piece of poetry.

It depends somewhat on the context; poetry can mean one or more poems, but in more figurative usages such as poetry in motion, meaning something outstanding or beautiful about a bird in flight, or a motorcycle race (as your tastes dictate), one wouldn't replace that with poems in motion, which would sound ridiculous.

These links to poetry and poem might help.

Do you like poems? / Do you like poetry?

Here the sense is the same. Normally poetry is a genre of literature, beside narrative literature (novels) and theatre plays. Shakespeare's shall I compare thee to a summer's day? as a single text is a poem.

1. Poetry is the use of words and language to evoke a writer’s feelings and thoughts, while a poem is the arrangement of these words.
2. Poetry is the process of creating a literary piece using metaphor, symbols and ambiguity, while a poem is the end result of this process.