Was it [the multiplexing] all done on the ground and the satellites were "bent pipes"?
Even nowadays, almost all GEO satellites are "bent pipe", meaning that they re-transmit the uplinked signal "as is", just shifted in frequency. For Early Bird, the signal uplinked at 4GHz (band) was frequency translated to 6GHz (band) then amplified for downlinking back to earth. The 4/6 GHz band is commonly referred to as the "C-band". More recent Intelsat satellites also use other bands, for ex the Ku (10/14 GHz), and the Ka (20/30 GHz) but essentially their common architecture is (still) bent-pipe.
Hence, with a bent-pipe architecture, it is the ground segment that does the multiplexing, whether this multiplexing is in frequency (each one-way communication takes a slice of the bandwidth) or in time (each one-way communication takes a "time slot"). The beauty of the bent-pipe architecture is that it does not make the satellite obsolete to advances in communication technologies. For example, moving from analog to digital, or frequency-multiplexing to time-multiplexing does not require any change in the (already launched) satellites.
Was the multiplexing digital? Or in the frequency domain ("channels") or something else?
The digitalization of the PSTN (Public Switched Telephony Network) started in the 70s, with the first standard of voice digitalization, the ITU G.711. Early Bird being launched in 1965 could not benefit from this, hence the (analogue) voice channels were frequency multiplexed (I talk to you on frequency f1 and listen to you on frequency f2).
Voice digitalization opens the possibility of several communications being "bundled" and transmitted in parallel in a high-speed "multiplex". The US, for example, use (perhaps used?) a Digital Signal-1 (DS1) multiplex to transmit simultaneously 24 voice calls (among other things). Note that this is uncompressed voice at 64kbps (for each direction).
The Intelsat VI series implemented a non bent-pipe technology called SS/TDMA (Satellite-Switched/Time-Division-Multiple-Access), which was used from the 90s to mid 00s, when large investments in undersea optical fibers quickly obsoleted satellite (trunk) telephony.