docs+tools: improve ndnsec help, error messages, and manual page

Exit with status code 2 on malformed command line

Refs: #3777
Change-Id: Id682a5d69c15c74cfa1903db38b5389936f5be58
diff --git a/docs/manpages/ndnsec-key-gen.rst b/docs/manpages/ndnsec-key-gen.rst
index 253073b..304f189 100644
--- a/docs/manpages/ndnsec-key-gen.rst
+++ b/docs/manpages/ndnsec-key-gen.rst
@@ -8,7 +8,7 @@
 
 ::
 
-    $ ndnsec-key-gen [-h] [-n] [-d] [-t keyType] identity
+    ndnsec-key-gen [-h] [-n] [-d] [-t keyType] identity
 
 Description
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