I have read through a book about first order logic.
It was interesting. However, when I read through undergraduate math texts it’s unclear about what system they are working in. They don’t specify anything at all about axioms or logical axioms.
I’m so confused now. What is the point of learning about first order logic if it seems that nobody cares / knows very much about it?
Analysis 1 by Tao talks about ZFC and Peano arithmetic but that’s about all I’ve seen.
Is it worth learning model theory? Where do I start with that?
It depends. Set theory, logic, and model theory are their own fields. There are interesting applications of set theory, logic, and model theory to other fields of mathematics, but also plenty of mathematicians work in their own fields without much knowledge of them, only basic knowledge more or less required for all fields of mathematics. In general I think it’s a good idea to know the basics, like what the axioms of ZFC are, what cardinals and ordinals are, what logical quantifiers mean, stuff like that. But anything more than that should be considered as just another field of mathematics. Whether it is worth learning or not depends on your interests and needs.