He didn't just "pitch" it, he made a buyout offer with all the attendant SEC filings. Not the sort of thing you can accidentally do with a slip of the tongue!
Is this really a good assumption for a guy who has started so many successful companies?
Plus it's not at all clear how much credit he should get for the companies he invested in, aside from being a good fundraiser and hype man. There are plenty of stories about employees having to manage him to avoid him stepping on critical work.
And you don't have to understand contract law to start a company (or in the majority of Musk's cases, invest in an existing company), that's what lawyers are for.
The only companies he actually founded was SpaceX, and Boring if that even counts.
If your name is Elon Musk, you may convince yourself you can walk away unscathed, or with only a slap on the wrist (see the many SEC encounters).