Below is my understanding.
Q1, back to applicationHost.config, there is a line registered as below,
<location path="" overrideMode="Allow">
<system.webServer>
<modules>
<add name="FormsAuthentication" type="System.Web.Security.FormsAuthenticationModule" preCondition="managedHandler" />
</modules>
</system.webServer>
</location>
So we know FormsAuthenticationModule is registered with preCondition=managedHandler.
But what does it mean? From the following article we note that,
http://learn.iis.net/page.aspx/121/iis-70-modules-overview/
"The precondition in the following example (precondition="managedHandler") only enables the forms authentication module for requests that are also handled by a managed handler, such as requests to .aspx or .asmx files"
As "enables" is used here, I think it's a normal behavior of IIS integrated pipeline to load FormsAuthentication but not enable it for unmanaged handlers.
A sidenote is that integrated pipeline automatically loads .NET CLR and related pieces when it loads "ManagedEngine" or "ManagedEngine64" from <globalModules> tag, so this pipeline already has managed handlers for ASP.NET contents. If in such a case it does not load FormsAuthentication (whether enabled or not), other users will complain.
If you want to remove such modules unless for your applications, you can remove them by overriding <modules> tag in your web.config files.
Q2, in that article, it is documented that if you are using classic pipeline then nothing needs to be changed. If you want to use integrated pipeline, a configuration migration is necessary. Otherwise, you will see exceptions. That's how it was designed and implemented. So, please make a decision first about which pipeline to use, and then make necessary changes.
Q3, sounds like the book chooses a really cool term. But without any context, it is really hard to comment whether such a saying is right or wrong. Can I have the book name? Actually I know many book authors have dedicated forums or mailing lists for readers to discuss issues, so it is highly recommended that you consult the author or the mailing list to see if there is useful resources.