Even if I gain access to the database, if the keys are managed securely, I can't read another user's data (or even really my own). I have to go through the authorization logic of the application that will decrypt it on my behalf.
However, if I can create a row in the database with my ID and another user's data, I can then convince the server I am authorized to view that cell, and it will happily decrypt it on my behalf, assuming something like AES-CTR or some other stream cipher without authentication.
Authenticated encryption like AES-CTR-HMAC solves that problem, because now the application will see that I am authorized to view that cell (because it sees the user ID matches mine) and it will decrypt it for me (using that user ID as the associated data), but the decryption will fail because the associated data does not match, leaving me unable to exfiltrate the data that I convinced the server belonged to me, and probably setting off some kind of alarm because that sort of decryption should never fail unless things have been tampered with.
I'm not overly fond of the example and I find it confusing as well. I think the example may be a bit confusing because the term "authentication" is overloaded between application-level authentication and cryptographic authentication, i.e., "if the chat protocol authenticates the user ID" sounds like it is talking about the user logging into the server securely. The user is authenticated by having a secret negotiated with the server. In the next bullet, they talk about "authenticating" the associated data, referring to it in the cryptographic context, but they don't indicate why that would be a problem because in their example, the malicious actor still doesn't have the key. The article handwaves it as "the attacker might be creative."
If they had the key, but not the associated data, you'd still be in a relatively bad situation, because the associated data is not secret. It doesn't serve as a second key because it is not high enough entropy and is ideally zero entropy conditional on already having all information from the originating context.