Erlang came later
Than Hoare's CSP? Yeah. Than this proposal? Absolutely not. This presentation is from 2007 (and so is Go), Plan9 was released in 1992, Erlang dates back to 1986.
Later than what? The presentation is from 2007, Erlang is from 1986, and open sourced in 1998.
That said, they're not really eliminating all the pitfalls of threaded programming. It's still possible to have deadlocks and timing-dependent bugs when using a message-passing model of concurrency.
To take it one step further, they could implement something like the Erlang OTP behaviors to abstract out the concurrency primitives. (Not that this would totally eliminate the drawbacks I mentioned, but it's another incremental step above the approach they've presented, IMHO.)