Read the inventor Greg Young's answer
I think, like "Dependency Injection" the concepts are so simple and taken for granted that the fact that they have fancy names seems to drive people to think they're something more than they are, especially as CQRS is often quoted alongside Event Sourcing.
CQS is the separation of methods that read to those that change state; don't do both in a single method. This is micro level.
CQRS extends this concept into a higher level for machine-machine APIs, separation of the message models and processing paths.
So CQRS is a principle you apply to the code in an API or facade.
I have found CQRS to essentially be a very strong S in SOLID, pushing the separation deeply into the psyche of developers to produce more maintainable code.
I think web applications are a bad fit for CQRS since the mutation of state via representation transfer means the command and query are two sides of the same request-response. The representation is a command and the response is the query.
For example, you send an order and receive a view of all your orders.
Imagine if the code of a website was factored into a command side and query side. The route action handling code would need to fall into one of those sides, but it does both.
Imagining a stronger segregation, if the code was moved into two different compilable codebases, then the website would accept a POST of a form, but the user would have to browse to another website URL to see the impact of the action. This is obviously crazy. One workaround would be to always redirect, though this wouldn't really be RESTful since the ideal REST application is where the next representation contains hypertext to drive the next state transition and so on.
Given that a website is a REST API between human and machine (or machine and machine), this also includes REST APIs, though other types of HTTP message passing API may be a perfect fit for CQRS.
A service or facade within the bounds of the website may obviously work well with CQRS, though the action handlers would sit outside this boundary.
See CQS on Wikipedia