Note, that it is an old article and they are talking about SSL, most browser do not even support SSL anymore, TLS is a standard these days. So do not worry, if the connection is encrypted, it is encrypted.
ISP can see, what domain you are visiting, but not the actual URL and other info. Lets say you visit youtube.com/someshadystuff ISP will see, that you are on youtube, but not the shady stuff. But if the whole domain is somewhat illegal, like howtobecomeaterrorist.com, encryption will not help you.
For common browsing I use those (for sensitive browsing, I download TOR and remove it afterwards):
1. Non-ISP DNS connected via dnscrypt, if the DNS requests are not encrypted, ISP can see them.
2. Privacy search like StartPage or DucDuckGo, which is encrypted, SP shows images via proxy.
3. HTTPS Everywhere addon, which makes sure TLS is enabled, if the webpages supports it.
The best way is to use VPN, but note, that some leak, so make sure to pick the right one.
That One Privacy Site | Simple VPN Comparison Chart
VPN Testing