[cmake] Always create libzstd target

[cmake] Always create libzstd target

If both `ZSTD_BUILD_SHARED` and `ZSTD_BUILD_STATIC` are set, then cmake exports the libraries `libzstd_shared` and `libzstd_static` only.
It does not export `libzstd`, which is only exported when exactly one of `ZSTD_BUILD_SHARED` and `ZSTD_BUILD_STATIC` is set.
This PR exports `libzstd` in that case, based on the value of the standard CMake variable [`BUILD_SHARED_LIBS`](https://cmake.org/cmake/help/latest/variable/BUILD_SHARED_LIBS.html).
This ensures that `libzstd` can always be used to refer to the exported zstd library, since the build errors if neither `ZSTD_BUILD_SHARED` nor `ZSTD_BUILD_STATIC` are set.

I tested all the possible combinations of `ZSTD_BUILD_SHARED`, `ZSTD_BUILD_STATIC`, and `BUILD_SHARED_LIBS` and they always worked as expected:
* If only exactly one of `ZSTD_BUILD_SHARED` and `ZSTD_BUILD_STATIC` is set, that is used as `libzstd`.
* Otherwise, libzstd is set based on `BUILD_SHARED_LIBS`.

Fixes #3859.