That just says that at the moment when the Earth-Mars distance reaches its minimum, that is closer to the moment of Sun-Mars minimum than usual.

it does NOT say that the Sun-Mars minimum is less distance than usual.

Mars and Earth are like two cars on racing tracks. Earth is on the inner track and travels faster, so it keeps catching up with Mars. But the point where it catches up with Mars is at (predictably) different points in Mars' orbit around the Sun.

Due to the phasing of the catch-up, this particular time it is really close to the point where the elliptical orbit of Mars is closest to the Sun, but there will have been other moments in the last 73 ky that were "nearly" as good (and with an ellipse, nearly in angle is very nearly in distance).

Meanwhile, Mars will have seen a pretty similar summer perihelion each Mars year for the last 73,000 Earth years (about 38,700 Mars years).

(actually, this last is not true. Over a 25,000 year timescale the orbital parameters of Mars change enough to change the proximity of the perihelion and the phasing wrt Mars' seasons, but you get the point, I hope)