"This company is legally allowed to deny random user #24232's attempts to get us to stream video #198284, but I don't agree with that; I think they should be allowed to upload it". Well, so what? Who cares?
If you felt that strongly about it - not just "i'm going to type a really angry comment about it" strongly but "actually do something about it" strongly then you'd be hosting content yourself. Or at the very least trying to show why it's so important that this particular company should be hosting it. Or you could find another company which would host it and tell people they should be using that site instead. A lot of the complaints I read about freedom and censorship just seems like empty posturing about what companies should or shouldn't do. It's just lazy. These companies only do it at all to make money. Your statements about whether a company should or shouldn't host something would be better phrased as "this company should be hosting this video because it will make them more money". Of course, with a lot of this content the opposite is likely true; complaints from advertisers, users etc will cost them more money (and hassle) than any money they'd make from the average video. It's time to stop thinking of facebook, youtube etc as being a social media version of the First Amendment and more like a conservative pension fund.