Here's a way that I consider easier: The general idea is that you want to append a text element to a circle element then play around with its "dx" and "dy" attributes until you position the text at the point in the circle that you like. In my example, I used a negative number for the dx since I wanted to have text start towards the left of the centre.
const nodes = [ {id: ABC, group: 1, level: 1}, {id:XYZ, group: 2, level: 1}, ]
const nodeElems = svg.append('g')
.selectAll('circle')
.data(nodes)
.enter().append('circle')
.attr('r',radius)
.attr('fill', getNodeColor)
const textElems = svg.append('g')
.selectAll('text')
.data(nodes)
.enter().append('text')
.text(node => node.label)
.attr('font-size',8)//font size
.attr('dx', -10)//positions text towards the left of the center of the circle
.attr('dy',4)