[SPARK-2886] Use more specific actor system name than "spark"

As of #1777 we log the name of the actor system when it binds to a port. The current name "spark" is super general and does not convey any meaning. For instance, the following line is taken from my driver log after setting `spark.driver.port` to 5001.
```
14/08/06 13:40:05 INFO Utils: Successfully started service 'spark' on port 5001.
```
This commit renames this to "driver actor" and "executor actor".