cmd/go: clarify errors for commands run outside a module

The new error message tells the user what was wrong (no go.mod found)
and directs them to 'go help modules', which links to tutorials.

Fixes #44745

Change-Id: I98f31fec4a8757eb1792b45491519da4c552cb0f
Reviewed-on: https://go-review.googlesource.com/c/go/+/298650


Trust: Jay Conrod <jayconrod@google.com>
Run-TryBot: Jay Conrod <jayconrod@google.com>
TryBot-Result: Go Bot <gobot@golang.org>
Reviewed-by: Bryan C. Mills <bcmills@google.com>