This is not because "they had no idea about the concepts we have found recently?" - relativity and other non-Newtonian phyics is a different issue - it's about having the best, most accurate represenation of the same concept, and it is very unlikely that the very first attempt in defining a concept is the best result possible.
We can make (and have made) much better summaries of Newtonian physics than Newton did, better definitions of Newton's principles than those which he wrote, when we teach Newton's laws of motion, we never use the original wording but an improved paraphrase of them. The original has no value for the learner (other than a historical curiosity) because the revised versions are simply better expressions of the same thing. Why don't we require the same thing from philosophy?