Audit and rewrite Concepts page for libP2P

[ElPaisano]

Epic: #1432

Tasks:

• Read through https://docs.ipfs.tech/concepts/libp2p/
• Note any of the following:
  - Outdated content
  - Incorrect content
  - Missing content
  - Confusing / misleading content
  - Broken links / links that should probably go somewhere else
  - Anything else that can be improved
• Create PR to fix issues found during audit

[ElPaisano]

One bit thing is here is to make sure we are using the same language as the updated libp2p site

[ElPaisano]

@DannyS03 can you link the PR for this once you kick it off?