I am a guy coming from embedded systems world and low level things,
Endpoint is a hardware buffer constructed at the far end of your machine, what does that mean?
YourMachine <---------------> Device
[Socket] ----------------> [Endpoint]
[Endpoint] <---------------- [Socket]
Both sockets and endpoints are endpoints but socket is an endpoint that resides on the sender which here your machine[Socket is a word used to distinguish between sender and receiver]
OK, now that we know it is a buffer, what is the relation between buffers and networking?
Windows
When you create a socket on Windows, the OS returns a handle to that socket, in fact socket is actually a kernel object, so in Windows when you create a kernel object the returned value is a handle which is used to access that object, usually handles are void* which is then casted into numerical value that Windows can understand, now that you have access to socket kernel object, all IO operations are handled in the OS kernel and since you want to communicate with external device then you have to reach kernel first and the socket is exactly doing this, in other words, socket creates a socket object in the kernel = creates an endpoint in the kernel = creates a buffer in the kernel, that buffer is used to stream data through wires later on using OS HAL(Hardware abstraction layer) and you can talk to other devices and you are happy
Now, if the other device doesn't have communication buffer = endpoint, then you can't communicate with it, even if you open a socket on your end, it has to be two way data communication = Send and Receive
Another example of accessing IO peripheral is accessing RAM (Main memory), two ways of accessing RAM, either you access process stack or access process heap, the stack is not a kernel object in fact you can access stack directly without reaching OS kernel, simply by subtracting a value from RSP(Stack pointer register), example:
; This example demonstrates how to allocate 32 contiguous bytes from stack on Windows OS
; Intel syntax
StackAllocate proc
sub rsp, 20h
ret
StackAllocate endp
Accessing heap is different, the heap is a kernel object, so when you call malloc()/new operator in your code a long call stack is called through windows code, the point is reaching RAM requires kernel help, the stack allocation above is actually not reaching RAM, all I did is subtracting a number of an existing value in RSP which is inside CPU so I did not go outside, the heap object in kernel returns a handle that Windows use to manage fragmented memory and in the end returns a void* to that memory
Hope that helped