If you turn off Messages in iCloud then the messages are instead stored in your iCloud backup and encrypted "In transit & on server" with key storage by Apple,

If you turn off Messages in iCloud then the messages are instead stored in your iCloud backup and encrypted "In transit & on server" with key storage by Apple, not just on your devices, as specified in the fourth row of the "Data categories and encryption" table in the Apple support article I linked. "In transit & on server" means not e2ee. That is, Apple can decrypt the messages at will without notice or consent. If the messages were still protected by e2ee with key storage only on your devices then it would specify that in the table. Some other data types like keychain passwords and Memoji are in fact protected by e2ee even when ADP is not enabled, and the table reflects that. Messages do not fall in the category of e2ee without ADP.