The Sesame Street creators weren't stoners who tripped balls while creating content. They were very meticulous about what they were doing. The colorful, abstract, "trippy" visuals engaged young minds so they were tuned in for the preschool lessons presented. They even layered social messages in a very subtle, non-preachy manner on top of the primary lessons. Here's one of my favorites:

A car appears to have trouble starting. Its driver, a Pam Grier-like woman, struts out, pops the hood, and drops a lowercase letter 'r' into the engine compartment. Now that the engine is capable of making appropriate 'rrrrrrr' noises, she drives off: https://youtu.be/L8AJATJoo5s

What a lovely little lesson! Its primary purpose being to teach a letter and its consonant sound, they didn't stop there, they built a narrative around that premise featuring a black female character oozing confidence (positive depictions of black and other minority characters being a Sesame Street priority since the early days). Sesame Street was full of stuff like this, engaging children of all backgrounds in a positive way in multiple dimensions.