From that link..
"3. Some high-end Home Theater Receivers incorporate the ability to run both a Zone 2 and Zone 3, in addition to the main zone. On these receivers, Preamp Outputs are provided for both Zones, which require separate amplifiers for each Zone. However, some receivers will give you the option of running either Zone 2 or Zone 3 using the built-in amplifiers of the receiver. In this type of setup, the user can run a Second Zone with the internal amplifiers of the receiver, and a Third Zone using a separate amplifier. However, since you are using the Receiver to power the Second Zone, you will still sacrifice the full 7.1 channel capability of the receiver in the main room."
This basically repeats what I said, but the bottom line is that even if a receiver supports zone 2/3 functionality and you are going with 5.1 so you have the extra 2 channels available, you typically should still go to an external amplifier because you are far less likely to damage the A/V receiver or put additional wear and tear on the amplifier components if you go to an external amplifier for additional zones. Consider the cost of things such as Audiosource amps, it isn't a bad way to go and really could save money in the long run as you don't run into wear and tear issues by over-exerting your receiver for the added zones, or robbing amp power from the main surround area to drive speakers which are secondary to the main audio experience.
In all fairness, there's a difference between 'required' and 'strongly recommended'. But, if you blow your receiver, then the price of a new receiver will have more than paid for the external amplifiers.