I believe it was Euler who, in the 18th century, described a continuous function as one which could be drawn by "freely leading the hand". This is the "no pencil lifting" description.
This "definition" turned out not to be precise enough, and in the 19th century it was replaced with the $\epsilon$-$\delta$ definition. That it turn was generalized in the 20th century, when metric spaces and topological spaces were introduced.
As it happens, the old intuitive "no pencil lifting" notion doesn't match the precise definitions perfectly. There are pretty dramatic examples showing the mismatch: there are continuous functions that are differentiable nowhere, and there is a continuous function from the unit interval onto the (filled in) unit square, $f:[0,1]\rightarrow [0,1]\times[0,1]$.
Notice that Abbott says "is sometimes described, intuitively, as..." You can't prove that an imprecise intuitive notion is mathematically equivalent to a formal precise definition. So the words "proved" and "theorem" are inappropriate in this context.
Intuition, however, can be retrained and refined. Here's a way to think about the continuity of the function $f:\mathbb{N}\rightarrow\mathbb{N}$, $f(n)=n$. It's the restriction to $\mathbb{N}$ of the function $g(x)=x$, $g:\mathbb{R}\rightarrow\mathbb{R}$. Obviously $g$ is continuous, so it would be very surprising if $f$ turned out to be discontinuous.
In the context of general topology, the set $\mathbb{N}$ inherits a topology from $\mathbb{R}$; this inherited topology is the discrete topology on $\mathbb{N}$. Every function whose domain is a discrete topological space is continuous.