I just watched that video and that grilled cheese looked amazing!
1. Crusting up and cooking the bread. You want a good texture and maillard reaction for the bread flavor to come out.
2. The cheese to be warmed up and softened to bring out it's flavor.
You don't actually need to cheese to _melt_ fully. That is just aesthetics. And the bread in the video was only just a touch overdone, really not meaningful. I'm not sure the video actually is a mistake at all.