Erik Flowers does an excellent job on his Practical Service Design blog post Demystifying Service Design Part 1 and Part 2 of clearly explaining the core principals of Service Design
He stresses the fact that service is not simply a straight line between product and customer but a spectrum of options in between.
Another core principle is what he refers to as "Stage Theory."
The final core principle he refers to is called "Behind the Scenes."
Part 2 is summarized on the blog post Demystifying Service Design (cont.)