Here are the images in order of increasing exposure, with the 'correct' metered exposure in the middle. What's clear is that the last over-exposed image is somewhat 'washed out'. Taking this to the extreme will give an image which I presume would be pure white - over exposed on all three red, green and blue channels.
Logically then the under-exposed images should have denser colour, as suggested in the course text. Have they to my eyes? Don't know! All I see is the darker images are just that, dark. In the first image, I'd describe the left side body of the flute to be perhaps green, whereas in the last images I'd say it was yellow. Similarly the right side of the instrument on the last image is a pinky colour?, whereas I'd guess the first image is dark red. The point is, right or wrong, I don't seem to have the words to describe the different shades, as I know they should really be shades of the same colour.
(an aside, I guess that makes sense - if our eyes have distinct colour sensors and mine are not working equally efficiently (eg. red less sensitive than blue), then at different levels of brightness, I will see colours start to change, and its this constant variation with brightness of illumination which perhaps confuses my brain into not being able to put a name to any colour).
As for under-exposing to create a more saturated image, I just see it as darker rather than any more saturated.