I mean.....removing pedo or gore content from Youtube is still censorship. Just the kind that we probably all agree with. The way you view censorship(and censors) mostly depends on whether they remove content you want removed or not, and that line can massively vary even in western societies(for instance I love the fact that in Germany any nazi-related content is actually criminal, but many Americans gasp at the very concept - however the line is there even in America, but it's just placed in at a different point).
It's not called censorship when it is the right and reasonable thing to do. In many cases, it is simply decision making done collectively by society. For example, we don't tend to allow blatantly religious proselytizing in public schools by teachers. Is that censorship? Maybe? Is it controversial? Not really.
Education is actually a good example -- as decisions are constantly made in terms of what is and is not made available to students. It's easy to find decisions that are blatantly wrong -- for example, banning "A Big Mooncake for Little Star," which is a book about a little kid eating a cake. (But there are other choices that are obviously correct, such as banning books in school libraries that are blatantly misleading.
Whether something is considered censorship is often a matter of perspective.
https://www.pbs.org/wgbh/frontline/article/germanys-laws-ant...
Now, if they would only stop with the censorship. When in the history of mankind have the censors ever been the good guys?