I don't know any Erlang, but, from what I understood (please correct me if I'm wrong), you can consider processes (let's say these are greenlets), connected directly to one another, so all you need to do to send a message is specify whom you want the message to go to. If you want to do, for example, fan-out, you have a process sit inbetween the other processes and distribute the messages.
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?