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The difference between multivariate and univariate functions is all in that domain $D$.
While this definition seems to correspond to univariate functions, the variable $x$ could be a number, an ordered-pair of numbers, a person, a function, etc. -- and $f(x)$ could be any of these (or even a brand of soda). So this is really a very general definition.
Sometimes I'll refer to them, and sometimes I won't!
Try representing this plane, p. 913, #25, using several different (physically realistic) projections.
Our author comments (and I concur strongly) that ``...in much the same way that linear functions of one variable are important in single-variable calculus, we will see that linear functions of two variables play a central role in multivariable calculus.'' (p. 905)
In a short note that my dad published in the American Mathematical Monthly, long, long ago, we discover that the multivariate case is more interesting.
I have since used Mathematica to recreate his work.
Since some of us don't draw as well as we'd like, we should use technology -- e.g. Mathematica -- to help us to visualize multivariate functions.
When you see a contour map, think of it as a landscape. This is a very useful analogy. Just like you might think of every univariate graph as a sledding hill...