What it says is that the hard part to make the next programmer understand what the machine does is not reading code, it's code complexity. Training yourself to read terse code is O(1), understanding code is at least O(N) where N is the number of lines of code.
Before you start arguing, try it. Try writing code as simple and succinct as possible. You won't go back to anything else because it works. It does make programming simpler and more productive.