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I don't think it's contradictory. Runners will not take up their full lead until the pitcher engages the rubber because they know the pitcher has more options available to him in his pick off attempt.
The point he's missing is that the runner bears the burden of knowing when the pitcher actually engages the rubber if the pitcher attempts a pick off. There's no way to balk the pitcher for being off the rubber unless he:
A: Steps quickly to the rubber and delivers the pitch.
B: Stands astride the rubber without the ball.
c: Makes a motion naturally associated with the pitch before he's engaged the rubber.
The point is that until he quick pitches, he's not committed an infraction.
Tim.
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