You’re absolutely right: in an ideal world, comments shouldn’t be necessary in your code. However, you can’t always avoid them all of the time if you want your code to be fully expressive of it’s function.
Robert (or Uncle Bob) acknowledged it himself:
It is well known that I prefer code that has few comments. I code by the principle that good code does not require many comments. Indeed, I have often suggested that every comment represents a failure to make the code self explanatory. I have advised programmers to consider comments as a last resort.
I’ve made some changes so that the article now conveys that comments are a last resort more strongly. Thanks for the tip!