It's not defined in the format, sure. That doesn't mean the format is bad. The format also doesn't specify how to interpret the binary data, or how to encode multiple strings, or automatically checksum it for you. But you can obviously use the format to exchange strings of variable length, or encode both integers and images, send multiple strings, or add your own checksum.
It's not "impossible to encode" that content just because you need to decide how to represent it. It's not "a mess" if some people use fixed-length strings and some use length-prefixed strings. It's just reality for any encoding scheme - you build layers around it, according to how you want to use it.
The same way the context of your software determines whether this binary string is supposed to represent a float, a name, a hash, or a pixel-art masterpiece, it will also determine the appropriate serialization.