What is the difference between the word "frugal" and the Spanish word "aprovechar?" Which do the authors prefer?

The word "frugal" has bad connotations, as in being penny-pinching or cheap. On the other hand, "aprovechar" means, "to really get full use and enjoyment out of something." Frugal seems negative, while aprovechar is a great way to live, according to the authors.