iOS stores the previously displayed notifications in an internal database, which was used to access the data. It’s outside of Signal’s control, they recommend disabling showing notification content in their settings to prevent this attack vector
They do control the content on the notification. It's a bit odd to put the sensitive text in the notification only to recommend disabling it at the system level.
Signal does NOT send encrypted notification, they send a blank notification that act like a ping, the actual encrypted data is then fetched by the app itself.
Sorry, the “recommended” was a bad wording on my part. The recommendation comes from the 404 Media article who did the expose on this incident, not Signal itself.