The coating of an ice cream bar can make them look very different from a popsicle (post #3784316), particularly because nuts or other additions to the chocolate are pretty common in real life. Ice cream bars that lack sticks are common too, like the Klondike bar, and having such possible depictions be forced to be tagged "popsicle" sounds rather off.
Even if there is consensus to unify the image populations, it probably would still make sense to retain the ice_cream_bar tag as a sub-tag of popsicle to cover depictions given their visual difference from common popsicles. For example post #2753044 or post #4783452 in comparison depictions like post #5121729.