* Move notification handler registrations to capabilities

Currently request handlers are set on the capability objects, but notification handlers are set after construction via an AddNotificationHandler method on the IMcpEndpoint interface. This moves handler specification to be at construction as well. This makes it more consistent with request handlers, simplifies the IMcpEndpoint interface to just be about message sending, and avoids a concurrency bug that could occur if someone tried to add a handler while the endpoint was processing notifications.

* Address more feedback and further cleanup