### 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.
tests/providers/docker/operators/test_docker_swarm.py
client_mock = mock.Mock(spec=APIClient)
        operator = DockerSwarmOperator(image='', auto_remove=False, task_id='unittest', enable_logging=False)
        operator.cli = client_mock
        operator.service = {'ID': 'some_id'}
        operator.on_kill()
        client_mock.remove_service.assert_called_once_with('some_id')