feat: refactor notify implementation to reduce overhead of adding and removing listeners

[bdraco]

Noticed this while profiling the esphome code as it adds/remove listeners every time its trying to connect to an offline device

[codecov]

Codecov Report

Patch coverage: 100.00% and project coverage change: -0.04% ⚠️

Comparison is base (13d9aa5) 99.82% compared to head (5568b1a) 99.78%.
Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1224      +/-   ##
==========================================
- Coverage   99.82%   99.78%   -0.04%     
==========================================
  Files          25       25              
  Lines        2789     2794       +5     
  Branches      480      480              
==========================================
+ Hits         2784     2788       +4     
  Misses          3        3              
- Partials        2        3       +1     

Files Changed	Coverage Δ
src/zeroconf/__init__.py	100.00% <100.00%> (ø)
src/zeroconf/_core.py	100.00% <100.00%> (ø)
src/zeroconf/_services/info.py	100.00% <100.00%> (ø)
src/zeroconf/_utils/asyncio.py	100.00% <100.00%> (ø)

... and 1 file with indirect coverage changes

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