I don't know what exactly do you mean by "dynamic topology" here, but I'll try to explain what the author means, from my Erlang programmer point of view.
In ZeroMQ you define a "network topology", however "dynamic" it might be. You define "formal" channels for communication. The computing entities use these channels to talk to each other.
In Erlang it's just the opposite. The computing entities are the communication channels. Imagine that you have entity A, communicating to entity C, via channel B. In Erlang you can have (and that's the usual way of programming) that channel B to be a process with computing capabilities of its own. So in fact in Erlang the "network topology" is not merely a means of communication between processes. In Erlang, usually the "network topology" is the program itself.