If I enter your restaurant, car dealership, etc. then you can pitch & try to up-sell your goods and services to me.
If I drive down a motorway or use your website, third-parties can't advertise their goods and services at me from spots you've sold them. (But you can tell me it will be faster to exit onto your toll road or that I should buy or upgrade my membership plan on the site.)
And what's solicited or 'relevant' doesn't need to be rigidly defined in statutes (assuming common law) - the ASA or OfCom whoever it would be (UK examples) slaps fines on the rulebreakers and if they think they've interpreted the law correctly in good faith then it goes to court and we find out (and the growing body of case law helps future would-be-advertisers interpret it).
The existing advertisement disclosure rules for social media for example don't allow the loophole you propose: a 'sponsored' segment shilling a product in a YouTube video isn't considered different from directly selling video time to the third-party in which to run their own ad reel.