Log better error messages in CLI (#549)

[BruceMacD]

• Add context to error messages in the CLI so that the user has actions to take
• Wrap error outputs in red formatting to make them stand out
• Capitalize user facing errors

It is frustrating for users to see a generic error message with no clear actions to take. These messages will help the user understand what is going on.

It was also easy to miss errors (specifically in a login flow where many lines are output at once during context switches, #694) so I brought back the red formatting:

Improvements here will be an on-going effort.

CC: @FSHA for any feedback on user outputs (error messages are anything following a fmt.Errorf line).

• Wrote appropriate unit tests
• Considered security implications of the change
• Updated associated docs where necessary
• Updated associated configuration where necessary
• Change is backwards compatible if it needs to be (user can upgrade without manual steps?)
• Nothing sensitive logged

resolves #
#549
#694