Your example of the Daily Stormer is interesting, because it illustrates two ways in which the Internet as it is set up today allows corporate censorship. The first is the one you describe: hosting companies and domain registrars can refuse to do business with you based on content. The second is one you don't mention: ISPs can (and virtually all of them do) prevent you from hosting content on your own servers at your own IP address. This wasn't the case in the early days of the web: most early websites were hosted on personal machines in people's homes or offices, connected to the Internet with their own personal or small business connections.

A truly libertarian Internet would still have the first issue, because of freedom of contract. But it wouldn't have the second, because having an IP address reachable from anywhere on the Internet and hosting any content you chose would be a basic right. (One could argue that having a DNS routable name for your IP address should be part of that right too, but the absolute requirement is the IP address: anyone can reach you with that even if there is no domain name corresponding to it.)