http: remove default 'error' listener on upgrade

Remove the default `'error'` listener when the socket is freed. This
is consistent with the client and prevents spurious `'clientError'`
events from being emitted on the server.

PR-URL: https://github.com/nodejs/node/pull/18868


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Benjamin Gruenbaum <benjamingr@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>