The quoted example above which you, Boookworm, say you agree with is talking about into turn yaw--you cannot prevent into turn yaw by pressing the rudder on the same side of the turn that just increases the yaw.
As Islander says, we need the aeroplane to yaw for it to turn (turn normally, at least). The object of using some into-turn rudder is not to
prevent it, but to provide the yawing moment necessary for it rather than having that yawing moment provided by reaction to sideslip. The amount of rudder required (at least at high speeds and short wingspans) is typically small and shouldn't be confused with the use of the rudder to counter "adverse aileron yaw".