Message queues and message logs do different things. The idea of the log is that subscribers can show up after the log is written and read or reread it from the beginning. In an event sourced architecture you use the log as the source of truth and all consumers can replay the log against a local store to reconstruct a view of the system’s state. You also can use a log for pubsub, but if that’s all you need one of the MQ solutions is usually a better fit.
> Why use RabbitMQ and Kafka if you can use ZeroMQ?
They are totally different, you're comparing apples with oranges.
ZeroMQ gives you basic, very fast tooling to communicate between distributed processes. ZeroMQ does not provide tooling for e.g. maintaining a strictly ordered, multi-terabyte event log. And so on.
Zeromq is just a bit of sugar on top of tcp sockets. It isn't a message queue or anything close. You would be wasting a ton of time reimplementing a lot of basic features like retries, persistence, service discovery, dead letter queues, priority, and a ton of other stuff.