zpool-set: print error message when pool or vdev is not valid

Reviewed-by: Tony Hutter <hutter2@llnl.gov>
Reviewed-by: Allan Jude <allan@klarasystems.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Rob Wing <rob.wing@klarasystems.com>
Sponsored-by: Seagate Technology
Submitted-by: Klara, Inc.
Closes #14310