[HttpKernel] Change exception message in case no controller found

| Q             | A
| ------------- | ---
| Bug fix?      | yes
| New feature?  | no
| BC breaks?    | no
| Deprecations? | no
| Tests pass?   | yes
| Fixed tickets | #11754
| License       | MIT
| Doc PR        | n/a

Change the NotFoundHttpException message.
I would actually add the NotFoundHttpException here, removing the return
https://github.com/symfony/symfony/blob/master/src/Symfony/Component/HttpKernel/Controller/ControllerResolver.php#L52-L58
Because this resolver is used in the SE and by returning the false there, we get back here to the HttpKernel.