Improve the messaging around `brew install` when there's a possible user
action such as an `upgrade` or `link` and don't tell people to
`install --force` when it's unnecessary.

While I did this, tweak the output and function usage in a couple of
related places.

Some example output before this change:
```
Warning: openssl is a keg-only and another version is linked to opt.
Use `brew install --force` if you want to install this version
Warning: mysql@5.6 is a keg-only and another version is linked to opt.
Use `brew install --force` if you want to install this version
Warning: analog-6.0_1 already installed
Warning: bash-completion@2-2.5 already installed, it's just not linked.
```

Some example output after this change:
```
Error: openssl 1.0.2k is already installed
To upgrade to 1.0.2l, run `brew upgrade openssl`
Warning: mysql@5.6 5.6.36_1 is already installed
Warning: analog 6.0_1 is already installed
Warning: bash-completion@2 2.5 is already installed, it's just not linked.
You can use `brew link bash-completion@2` to link this version.
```