Earlier quoted context omitted.
I think the point is that you don't want to be instantiating (and thus configuring) a dependency at the site where it is used. The code in class Foo should be limited to implementing Foo, not instantiating and configuring its dependency Bar.
So why not just pass its dependency as a constructor argument?
However a IoC container can automatically create, and send through the object based convention(IMessageQueue -> MappedTo -> MessageQueue) or configuration (IMessageQueue -> MappedTo -> APMQMessageQueue).