On this particular distinction, in fact, it's one of the benefits the actor model has over CSP. In the actor model (well, Erlang's take on it, but that's one that has been adopted elsewhere such as in Akka), I care about "if this fails, who should be affected by it". I.e., by default, it's just this process, and with a supervisor it'll restart. How do I get it restarting into a good state? If it goes down, who else needs to go down (to keep state consistent)? That's mostly all I have to ask myself; I don't have to ask what all the ways it could go down are (slight caveat there; you still want circuit breakers around external resources).
With CSP, I have to ask "if this goes down, who else IS affected by it". Not who should be, and be intentional about linking them, but determine who accidentally is affected by it. This is everyone who might be sending or receiving across a channel (to borrow Go parlance) this process has access to. Which breaks the abstraction; from the perspective of the current process I shouldn't have to know who is sending or receiving across a channel, but the reality is I -do-. And that's no better than the error model I have in other languages; I have to understand every part of my application to know what may or may not be affected by this one part going down. Go gets 'around' this by just making it so any uncaught exception (err, unrecovered panic) crashes the whole application, which is certainly one way to do it.
You achieve concurrency by spinning up processes (spawning functions). This isn't that different to firing an async function in Javascript, or starting a goroutine, etc.
And you communicate between the processes by sending async messages.
Those are the primitives. Asynchronously send messages between processes that are synchronously doing stuff. Go is actually not -that- different, except sending messages is synchronous, too, unless you set a buffer on the channel (and then you have to size it). Though I agree, because Erlang/Elixir keep it simpler than that, and are dynamically typed, it's a lot cleaner to write.