Most major accepted TLS/SSL certificates are issued to host names, which can be looked up via DNS.
The reason for this checking is to prevent potential Man in the Middle attacks, where an attack could have a perfectly valid certificate, but it isn't issued to the website you are attempting to visit. Certificates address the area of "non-repudiation".
In the case with google, they attempt to redirect users to the domain name as the IP address hosting the web service likely handles requests for many domain names (see the second code box below). The same thing would happen if you attempted to access a website which uses Cloudflare. Because Cloudflare is sitting in front of many websites, it doesn't know which to serve, and returns an error message.
66.33.204.254 uses an invalid security certificate.
The certificate is only valid for the following names:
schneier.com, www.schneier.com
Error code: SSL_ERROR_BAD_CERT_DOMAIN
Google will give the same error code:
216.58.211.14 uses an invalid security certificate.
The certificate is only valid for the following names:
*.google.com, *.android.com, *.appengine.google.com, *.cloud.google.com, *.google-analytics.com, *.google.ca, *.google.cl, *.google.co.in, *.google.co.jp, *.google.co.uk, *.google.com.ar, *.google.com.au, *.google.com.br, *.google.com.co, *.google.com.mx, *.google.com.tr, *.google.com.vn, *.google.de, *.google.es, *.google.fr, *.google.hu, *.google.it, *.google.nl, *.google.pl, *.google.pt, *.googleadapis.com, *.googleapis.cn, *.googlecommerce.com, *.googlevideo.com, *.gstatic.cn, *.gstatic.com, *.gvt1.com, *.gvt2.com, *.metric.gstatic.com, *.urchin.com, *.url.google.com, *.youtube-nocookie.com, *.youtube.com, *.youtubeeducation.com, *.ytimg.com, android.clients.google.com, android.com, developer.android.google.cn, g.co, goo.gl, google-analytics.com, google.com, googlecommerce.com, urchin.com, www.goo.gl, youtu.be, youtube.com, youtubeeducation.com
Error code: SSL_ERROR_BAD_CERT_DOMAIN
An image of what would happen when you access a site "protected" by cloudflare: