To verify, SSH is an "internet protocol". It does not work over a straight serial connection. Period. (It can be made to work by setting up PPP, but that is way beyond the scope of what you want.)
To verify: What you really want is a way to connect via serial cable from one computer to another, accessing a command prompt?
If that is the case, then you need to set up a serial terminal server on the BSD machine (II2II suggests getty, which is usually fine.) Then a serial terminal client (such as ZTerm) on the classic Mac OS machine.
The way to connect in ZTerm is to open a serial connection, with the baud rate the BSD machine is expecting. Generally, this defaults to 9600 baud. (And if it asks for other info, it is usually "N/8/1", or "N, 8, 1", or some such. I'm not going to explain what that all means, because as long as you pick the right setting, it doesn't matter.) If 9600 baud doesn't work, try 57600, then 19200, then 2400. You'll know it doesn't work because when you try to type something into the terminal window, you will get gibberish in reply.
On to the technical explanation: There are two different approaches at play here. One is "raw serial", which is a straight stream of 1s and 0s over a cable directly between two computers. The other is a TCP/IP (internet) data stream, which is a bunch of packeted data, not the raw stream of 1s and 0s. This TCP/IP connection can occur over a variety of interfaces, including Ethernet, WiFi, and even serial. But the serial connection has to be configured, generally as "PPP", which for a raw null-modem connection, requires quite a bit of setup on both ends. MacTCP is complaining because it is not set up for a PPP connection.
Your best bet really is Zterm. (Unless you have another computer on the same local Ethernet or WiFi network as the BSD machine, in which case SSH should work fine. You would just connect via SSH to the IP address of the BSD machine, ignoring the serial cable altogether.)