The Codd 1971 stuff on Wikipedia looks like a mess, and I think the original is propbably a bit crufty too (though I don't want to disrespect the old masters, SQL was a high water mark of business thinking about computing in many ways).
There is a book by c.j date that goes into these . It is very theory based and heavily criticises people for confusing relation and table . Book is
Database Design and Relational Theory: Normal Forms and All That Jazz
I feel bad as this stuff is certainly much harder. But yes I do think it's important to try to understand databases in a modern setting and not some old set theoretic cludge that's hard to relate to anything else.