The author doesn't mention it but Concepts, Techniques and Models of Computer Programming by Haridi & Van Roy teaches concurrent logic programming (as part of a tour through a wide variety of programming models, including logic programming, stateful concurrency, and constraint programming). It's a great introduction to the paradigm. The full text is available online: https://www.info.ucl.ac.be/~pvr/VanRoyHaridi2003-book.pdf