bpo-39148: enable ipv6 for datagrams in Proactor (GH-19121)

Ifdef is not necessary, as AF_INET6 is supported from Windows Vista, and other code in overlapped.c uses AF_INET6 and is not ifdef'd.
Change the raised exception so users are not fooled to think it comes from Windows API.

Automerge-Triggered-By: @njsmith