The idea here is that any radio energy that does not end up in the vicinity of the target was wasted and at 21 billion Km that gives you plenty of opportunity for mis-alignment.
Receiving the signal has similar challenges, with the added complication that this time the sender is sending with a power level that puts its signal under the noise floor by the time it reaches Earth.
https://en.wikipedia.org/wiki/Noise_floor
Fun fact: this goes for the GPS satellites as well by the time their signal reaches your pretty little hand-held receiver and it takes nothing short of magic (to me, not to the people that design that stuff) to recover the signal.