refactor creation of Filter objects when created with an existing `filter_id`

### What was wrong?

When creating a new filter object with an existing `filter_id`, the `select_filter_method` function in `web3/_utils/filters.py` uses a custom error class to pass the `filter_id` up to the appropriate `retrieve_[blocking|async]_method_call_fn` function in `web3/module.py`. This feels like a convoluted way of doing it that could be improved on.

### How can it be fixed?

Not sure, but open to suggestions.