Bleeping is another important distinction. It lets you know something was there, and leaves you with a pretty good idea of what it was, preserving the message without preserving the shock value. Cutting bits out entirely and leaving nothing in their place is censorship in the sense that the article is trying to evoke, in a way that bleeping isn't.
You're cherry picking bleeping from that post. There is no type of censorship the BBC and TV regulators have not engaged in throughout its history. Bleeping, cutting away, using euphemistic terms, selective editing, not permitting discussions at all, demanding artists record versions with words like "cherry cola" seamlessly inserted in place of the inappropriate "Coca cola" for broadcast, banning other songs for openly political reasons or just because a senior exec hated jazz, excising material that might be subject to libel action, avoiding giving representation to political views sufficiently far outside the Overton Window, censuring presenters for expressing their own political opinions, even relatively unusual ones like requiring Sinn Fein politicians' statements to be revoiced by an actor just in case the original vocal inflections carried any coded messages to terrorists.
The type of edits engaged in have not changed at all, merely the subject matter, which has always had an ideas and politics and offence-based dimension but now takes a somewhat less conservative stance on what is and isn't appropriate. Arguing a threshold has been crossed because casual racism has replaced other things like homosexuality or mocking royalty on the long list of reasons the BBC might deem a sequence inappropriate for broadcast in certain contexts isn't a principled preference for freedom of artistic expression or the circulation of political ideas, it's a culture warrior's opposition to antiracism specifically .
One minor nit: the Sinn Fein revoicing was done by the BBC, but not for that reason. The government had required them not to broadcast SF and IRA 'propaganda' and the revoicing was a way to get around that ban. Thatcher was, apparently, livid.
