I find it1 interesting that according to Google Books, 40 years ago consider it necessary, think it necessary and think it is necessary were all equally common. But consider it is necessary has always been extremely uncommon...
I can only assume the significant decline in use of is after think is because more people have started to apply the same idiomatic preference to think that they'd always applied to consider anyway.
As to why consider rarely occurs with a "tensed verb" clause, I think it's probably just that consider is a relatively "formal, upmarket" verb compared to the "everyday" verb think.
Consequently, I consider it likely the relatively "literary"2 construction illustrated by this very sentence was always much more closely associated with consider than with think.
Obviously OP's friend's cited textbook should be thrown in the dustbin, since it erroneously conflates "idiomatically less common" and "syntactically invalid".
1 Less commonly (but certainly not "unacceptably"), I find it is interesting... But more commonly (more "often" and more "colloquially") I think it's interesting...
2 This type of construction is declining in English, but I think even though learners should normally avoid using it themselves, they probably do need to understand how it works. I won't go into details about it in this answer, but here's what I wrote 10 years ago on ELU.