This taught me modern openGL, it's a great guide for beginners and it uses GLFW. I personally switched back to SFML once I got a grip of openGL and knew how to translate the GLFW code so it works in SFML.
You use SFML, SDL, GLFW etc for stuff that openGL can't handle. Which is everything except for rendering. You use them for controls, to create a window, audio etc.
SFML and OpenGL are used for different purposes, so I cant answer that quesiton. What do you want to do? Do you want to make a small 2D Game? Pick up SFML, Do you want to make a 3d application/small Game. Pick up SFML And OpenGL.
Which one should I start learning for game programming.
From where would I found a good book for freeglut/glfw?
It's not really a big deal. What you will need to use it for is only a small part of the program. You can isolate that part and change it later if you want for some reason. You don't need a book on using these libraries. Just look at a few examples.
I'm not understanding anything of an animation, such as
glLoadIdentity()
glPrestective()
glPushMatrix()
glPopMatrix()
glTranslatef()
How could I get a good tutorial of these?
Don't use any of those functions. They are legacy openGL functions which are deprecated and should no longer be used. You should learn modern openGL. If you ask me, the best resource for beginners is the link provided above by TarikNeaj.