About sixty years ago structured control flow was rare or non-existent in most languages. Want to do X fifteen times? Well, try setting a counter N to zero, do X, increment the counter N, and if N is less than fifteen jump back to the start of your "do-X" routine. Simple.

Oh wait, sorry, somebody else who wanted to do X is also jumping to the start of that routine, and they didn't set N so now everything is on fire.

Today your programming language has structured control flow. You write a loop, the loop does X fifteen times, it's not possible for some unrelated code to just wander into part of your loop unsuspecting and cause mayhem since it wasn't prepared to count up to fifteen. New keywords appeared like "for" and "while" and "return". It's not that somehow a new tool magically fixed the problem, but instead programmers learned to write software in a more structured way using the better tools.

Structured concurrency is the same idea again, but for concurrency.

It took some time between Dijkstra writing a letter and languages delivering the nice for-each loop we're familiar with today in many languages, and so likewise what we have today as the state of the art for structured concurrency is likely nowhere close to what will be developed over coming decades, but it's already nicer to work with that the chaos of unstructured concurrent programming.