I have not met anywhere term Daemon together with Services or AsyncTask. To me Daemon threads are the ones from java which allow JVM to finish even with unfinished Threads. In terms of Android you have no control over your App process - you at most might kill it.
Android service is a Component - this places it near to Activity component. What does it mean? It is managed by system - it has its lifetime during which life cycle methods are being called. Service can be configured to be recreated, or you can make it a foreground (this way system will be less likely to kill it). Since it is a Component you can configure it to be run under separate process. It does not have its own thread of execution by default - it runs on UI thread.
Now AsyncTask is entirely different thing, it is not a Component, so you cannot do anything from above. One thing it has is a background worker thread. Actually AsyncTask is a wrapper around Exeuctors thread pool with some lifecycle methods - like onPreExecute,onPostExecute,... It should not be compared to services, but rather to Loaders.