### Body

See discussion in https://github.com/apache/airflow/discussions/18270

`docker-py` released version 5.0.3 https://github.com/docker/docker-py/releases/tag/5.0.3 which fixed https://github.com/docker/docker-py/issues/931

**Task:**
Update `DockerSwarmOperator`
https://github.com/apache/airflow/blob/4da4c186ecdcdae308fe8b4a7994c21faf42bc96/airflow/providers/docker/operators/docker_swarm.py#L205-L215
as we don't need the workaround any longer.

Note: this also require set minimum version of the package to 5.0.3 in [steup.py](https://github.com/apache/airflow/blob/fd45f5f3e38b80993d5624480a793be381194f04/setup.py#L263)


### Committer

- [X] I acknowledge that I am a maintainer/committer of the Apache Airflow project.
setup.py
'cloudant>=2.0',
]
dask = [
    'cloudpickle>=1.4.1, <1.5.0',
    'dask<2021.3.1;python_version<"3.7"',  
    'dask>=2.9.0, <2021.6.1;python_version>="3.7"',  
    'distributed>=2.11.1, <2.20',
]
databricks = [
    'requests>=2.26.0, <3',
]
datadog = [
    'datadog>=0.14.0',
]
deprecated_api = [
    'requests>=2.26.0',
]
doc = [
    'click>=7.1,<9',
    
    'sphinx>=2.1.2, <3.5.0',
    'sphinx-airflow-theme',
    'sphinx-argparse>=0.1.13',
    'sphinx-autoapi==1.0.0',
    'sphinx-copybutton',
    'sphinx-jinja~=1.1',
    'sphinx-rtd-theme>=0.1.6',
    'sphinxcontrib-httpdomain>=1.7.0',
    'sphinxcontrib-redoc>=1.6.0',
    'sphinxcontrib-spelling==7.2.1',