Chrome (my web browser) translates his Facebook entry for August 10 as saying the following,
According to UNRWA's official site, of the 1.5 million residents of Gaza, 1.2 million already formally defined Refugees "and treated as such by the UN. therefore, be handled by the United Nations elsewhere, for example, as I suggested camps on the Sinai border, and the empty areas in the Gaza Strip. refugee is a refugee, or where he is now fighting there, be moved away for the sake of security. then you can conquer the Gaza Strip and Hamas to eliminate using the full force of the IDF fire, without going into tunnel
Z and houses booby-trapped - with minimal risk our soldiers. , but we - as usual - let our enemies have it both ways - both sovereign status in our country and refugee status at the same time. 's no wonder that we also eat the fish (missile) cheesy - that allegedly harmed sovereignty When we dropped them under siege - and expelled from the city (PR) as our response leads to damage in the "innocent refugees." problem is they - not Hamas, not the world - the problem is us
A reasonable human could presumably provide a better/clearer translation than this, but IMO it's clear that the "camps" or "concentration camps" that he's "calling for" are not Nazi-style death camps: rather, they're United Nations-style refugee camps (or perhaps internment camps of the style used by the "Allies" in WW2).
As for how it was understood by its audience, consider the following comment with 51 likes (again, translated into English by my browser):
Smart just clear evidence of reality. Indeed, a refugee who like everywhere else in the world should be regulated status and get refugee status in a country that can absorb it, I do not see any problem with it I'm sure the people of Gaza get refugee visas happily in other countries
Moshe Feiglin replied to that comment with the following,
Instead of spending billions of new terrorist state of Gaza, should take the trouble of donor countries, will invest 0, and absorb the refugees in their fields while generous support of Israel. It should Israel talk all the time. Difficult situation for you? Some refugees (rich!) Any country willing to receive
... which IMO opens him to the charge of wanting "ethnic cleansing" in the sense of "forced migration"; but not of "ethnic cleansing" in the sense of "killing, genocide".
The Daily Mail article in the OP was published August 4 and says "He posted the message on his Facebook page at the weekend", which presumably means his Facebook entry of August 1. If you read that (in translation), the "tent camps" he's suggesting are intended to be zones of safety for civilians, which (removing or concentrating the civilians) would leave the IDF free to unleash destruction (to shell previously-populated or recently-depopulated) areas with maximum firepower.
Therefore "concentration camp" in the strict/literal sense of the term (avoiding its Nazi connotations), which I understand as meaning "a camp into which a population is geographically concentrated (whether by threat or by force)", is indeed what he called for.
The word "concentration camp" has a long history, and doesn't only mean a Nazi-style death camp: for example, they were used in the Boer war; see also this Wikipedia article on the meaning[s] of the term.