That Knowledgebase document's author should be handcuffed to a legal writer during a basic citation style lecture.
What it means is that all SLC-5/05 controllers, regardless of memory size, hardware Series, or firmware revision, have at least four TCP connections reserved for Incoming connections, and four reserved for Outgoing connections.
The number of connections that can be used as incoming or outgoing depends on the memory size, hardware series, and firmware revision.
Since yours is a Series C hardware it probably has v5 or later firmware (less than 15 years old):
1747-L551 controller supports 4+4+24 = 32 total connections.
1747-L552 controller supports 4+4+40 = 48 total connections
1747-L553 controller supports 4+4+56 = 64 total connections.
20+ connections to a single PLC is typically going to burden its capability to service communications. As folks have mentioned, there are some tricks to trading scantime for comms bandwidth, and of course there are ways to optimize the client devices.
The error counters are almost certainly not related to the amount of traffic unless you have an unmanaged (and ancient) Ethernet hub in the system. Those typically show Collisions, because they use collisions to arbitrate for bus access. The most basic switches prevent collisions. The error counters are very probably related to a damaged or defective port, cable, jack, or switch.