I had the same confusion so here's my layman's understanding. They are defining capture/orbit as having negative "geocentric energy" which is a term of art no one else seems to use but I think is just a mathematical representation of the following:
> a temporary satellite is any body that enters the Hill sphere of a planet at a sufficiently low velocity such that it becomes gravitationally bound to the planet for some period of time. [1]
again stretching my understanding too far, I think this basically means that in the absence of other celestial bodies the satellite would be in a stable orbit, but that in reality after some time it gets far enough away that the sun's gravitational pull dominates and stops it from making a full orbit.
> in the absence of other celestial bodies the satellite would be in a stable orbit
Presumably entering such an orbit is only possible due to forces from other celestial bodies in the first place, since otherwise if you reversed time it would spontaneously leave its orbit. In other words, the act of the earth "capturing" the object is ultimately performed by external forces?