`docker cp` error when container doesn't exist

Fix cp api to return a 404 notfound if container doesn't exist.
Fixes #4119.

Docker-DCO-1.1-Signed-off-by: Fabio Falci <fabiofalci@gmail.com> (github: fabiofalci)
Merge pull request #4164 from fabiofalci/cp_error_message

`docker cp` error when container doesn't exist