bpo-5001, bpo-31169: Fix two uninformative asserts in multiprocessing/managers.py (#3078)

* Make error message more informative

Replace assertions in error-reporting code with more-informative version that doesn't cause confusion over where and what the error is.

* Additional clarification + get travis to check

* Change from SystemError to TypeError

As suggested in PR comment by @pitrou, changing from SystemError; TypeError appears appropriate.

* NEWS file installation; ACKS addition (will do my best to justify it by additional work)