It is indeed a bit confusing. Qualitatively (and only looking at the $\vec E$ field), the permittivity of a dielectric material is not the degree of permitting the $\vec E$ field to penetrate the material but the degree of resistance. That is, the greater the permittivity of a material, the more difficult it is for the $\vec E$ field to find its way into the material.
The susceptibility of a material is the degree of the receptiveness for the $\vec E$ field. The greater the receptiveness for a dielectric material, the more the $\vec E$ field can enter the material and the greater the polarization in the dielectric, opposing the applied field. In the process, the material acquires potential energy.
If there is no dielectric material at all (or any other material), i.e. in a vacuum, the susceptibility is zero (there is no dielectric to receive the $\vec E$ field): $\chi =({\frac{\epsilon}{{\epsilon}_0}}-1)$, where $\chi$ is the susceptibility, $\epsilon$ the absolute permittivity, and ${\epsilon}_0$ the permittivity in vacuum (the ratio of these is called the relative permittivity ${\epsilon}_r$ which is one for the vacuum, so the susceptibility $\chi$ is zero in vacuum). On the other hand, the vacuum has maximal resistance to let the $\vec E$ field go through, and the permittivity has it's minimum value ${\epsilon}_0=8,845*{10}^{10}(\frac F m)$.
I agree that you could just as well interchange the terms "permittivity" and "susceptibility". They are in a sense each other's inverses.
And, of course, you can say that these terms are just names that are historically determined, but then you can give every physical concept just arbitrary names of which you just have to learn the definitions. It seems that the definitions of names that cover these definitions are much easier to learn. Why hold on to names that were invented a long time ago and which don't (entirely) cover the definitions? That's a very conservative point of view which can cause much confusion (as is clear by the question asked).