Untyped computation in the academic sense you refer to is untyped in the sense of Forth and assembler. The untyped lambda calculus doesn't even have numbers. Pragmatically, a language in which type errors occur is a typed language.
Nor does it make sense to conflate "typed and untyped" with "statically typed and dynamically typed". These are simply very different things. Julia is an example of a dynamically typed language with a quite sophisticated type system and pervasive use of type annotations, it would be insane to call it untyped. Typescript is an example of a dynamic language which is nonetheless statically typed: because type errors in Typescript prevent the program from compiling, they're part of the static analysis of the program, not part of its dynamic runtime.
The fact that it's uncommon to use untyped languages now is not a good reason to start describing certain type systems as 'untyped'! A good term for a language like annotation-free Python is unityped: it definitely has a (dynamic) type system, but the type of all variables and parameters is "any". Using this term involves typing one extra letter, and the payoff is you get to make a correct statement rather than one which is wrong. I think that's a worthwhile tradeoff.
From Benjamin Pierce's Types and Programming Languages, which is basically the definitive work on types:
> A type system is a tractable syntactic method for proving the absence of certain program behaviors by classifying phrases according to the kinds of values they compute.
And later on:
> A type system can be regarded as calculating a kind of static approximation to the runtime behaviors of the terms in a program. ... Terms like "dynamically typed" are arguably misnomers and should probably be replaced by "dynamically checked," but the usage is standard.
The definitions you're using are the ones that he identifies as "arguably misnomers" but "standard". That is, they're fine as colloquial definitions but they are not the ones used in academic works. Academically speaking, a type system is a method of statically approximating the behavior of a computer program in order to rule out certain classes of behavior. Dynamic checks do not count.
As I've said elsewhere, I don't have a problem with people using the colloquial definitions. I do have a problem with people actively correcting someone who's using the more correct academic definitions. We should have both sets in our lexicons and be understanding when someone uses one versus the other.