MikeA, so if I don't rely on the pc firewall then I guess I am relying on the router right? In that case, if I put the camera behind the router then does that protect it? Still trying to understand why I need a VPN if I don't need one for my pc.
It does assuming that the router/NAT/firewall doesn't let any traffic into your network other than that responding to requests originating from within the network. Which is how must all will default. So in that case, assuming that everything is working and not exploited in some way, no outside traffic will be able to access anything inside your network, but you can access whatever random outside site/service/whatever from within your network and pass that requested traffic back through. There's more to it but that's basically the model - unrequested outside traffic is blocked, outside responses to traffic originating from inside is passed through. And there's more to security on the internal side as well. e.g., You could have an internal device making rogue requests or sending other traffic out and doing other things within your network that you don't want. Which is why it's best to isolate the cams from the rest of your network and from having Internet access .
Where that breaks down is when people want to access their cams from outside their network (unrequested outside traffic). So they then open ports on the router/NAT/firewall to permit that. Easy but then there's a path through for whatever outside traffic to reach directly that device within your network. So you're then dependent on whatever security/vulnerabilities exists on that device. Which on most cams is kind of shaky. There are better ways to pass that traffic through using firewall rules, proxies, VPN, etc, but generally not the case for cams just sitting on an typical home network.
P2P works by setting up a connection/tunnel/whatever from within your network so, as in the model above, it permits that traffic to be passed through without opening ports on your router. But it has its own potential vulnerabilities. e.g., If credentials are exposed or compromised in some way then that could permit someone from outside to access the cam/device, if the access permits unwanted control/configuration of the device, etc.
VPN also works by opening a port on your router/firewall but in order to open the connection it requires credentials to be exchanged and sets up an encrypted connection vs just leaving the door unlocked and wide opne as in the case of an open port. In all cases, there exists the possibility of some vulnerability/exploit, which there have been for various VPNs, so that's not assured either but less likely and tends to be found and fixed quickly.