Moss would have caught that... he's 6 inches taller. Plus, his vertical is likely greater. Finally, his arms are longer. That's probably at least a foot or two of an advantage right there. On top of all of that, Moss's hands are bigger and he's probably has more speed, is more agile, and can jump faster into the air than Samuel. All of that does not mean that Samuel made a mistake. That's obviously not a pass a short cb can catch.
The other things I forgot are that Moss expects a pass to come to him. Samuel expects the passes to go to the guy he's covering. In fact, the other QB is trying to NOT throw it to Samuel! Also, Moss and Brady practice many routes. Samuel and Eli did not practice together except for the Giants game earlier this season!
Brady can tell Moss exactly what the play will be, and aims for Moss, not the defenders. Eli doesn't tell Samuel exactly what he's about to do and when, and does not aim at Samuel.