A trust boundary is a point where data crosses from one authority level to another. Security has to be enforced at every boundary, because anything on the far side of a boundary is untrusted until proven otherwise.
A single-agent system has one trust boundary: between the agent and the user. Everything the user sends is untrusted input; everything the agent produces is output that needs to be checked before it reaches the world. That is the model B4 covered.
A hierarchical multi-agent system has many more boundaries. Each one is a place where a compromised component can pass bad content into a trusted one.