No Azure AD is created. When Andreas Baumgarten talkes about "created", I believe he means configured. Azure AD is a shared resource, the backbone for Microsoft's three cloud platforms (Microsoft / Office 365; Azure and Dynamics 365). It's called Identity as a Service, your next-generation Active Directory.
The concept of tenant means that you rent a small part of Azure AD. What happens in the background is that your tenant, your small portion of Azure AD, is set up with strong isolated security. This architecture is called multi-tenancy. (Local AD is single-tenancy, at least for most of the time.) Such an approach is used by all cloud providers, Dropbox, Salesforce etc.
Azure AD does much of the same things as your local Windows AD DS. But it has no group policies. Make sure you sign up for a license with Intune and Azure AD Premium P1 for conditional access. Then you have Intune with MDM/MAM, in practical terms Configuration Manager for the cloud, combined with group policies for the cloud. Microsoft 365 Business Premium is a good and cost-effective choice.
You might wonder: Is the schema for Exchange Online extended in Azure AD? No. Exchange uses its own directory store: Exchange Online Directory Services (EXODS). Same thing for Skype and SharePoint. These stores communicate with Azure AD and use it for authentication and so on. Perhaps a bit over-simplified, but you'll get the idea.
You should definitely Azure AD-join your computers and have them enrolled in Microsoft Intune, part of Microsoft Endpoint Manager. Your IT-life will never be the same again.