I'll say that docs are delightful to read and beautifully explain the domain. I would recommend going through them even if you never use the ZMQ itself.
I never used ZeroMQ much but it taught me a lot of the language around distributed and high-concurrency systems and problems that come up.
Typically software infrastructure like 0MQ, ext2fs, Valgrind, HotSpot, and gzip takes about a decade to get good, remains optimal for a decade or two, and remains relevant for half a century after that. A couple of years is not a long time.