ID-ing Hornet-like Insect?

the one you see with the cicada is a female cicada killer wasp and the one you see on your lawn are the males of the same wasp. the females sting cicadas, paralyze them, drag them to a burrow, and use the cicada as food for her young. the males you see occupies a territory and will attempt to chase anything, including you, away from it. the males cannot sting but can bite and are harmless. the females could deliver a painful sting but is very docile unless provoked.