Contrary to what the author says, ZeroMQ is actually a very good and powerful tool for building dynamic topologies - no idea why he decided that it biases your design towards a "static" network.
In contrast, with ZeroMQ you have to have/set up channels, because these are sockets. At least, that's what's apparent to me that the author is saying. Is that correct?
You can run ZMQ devices which can act as routers, and you can easily create fan outs, fan ins, pipelines, and more.
For a mildly interesting example of building a "dynamic" typology, check this experiment: https://github.com/igrigorik/zeroconf-router