errors: consistent format for error message

Consistently use printf-style strings for error messages that
do not need a custom argument order or processing of arguments.

PR-URL: https://github.com/nodejs/node/pull/16904


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Michael Dawson <michael_dawson@ca.ibm.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>