Using a recent example: YouTube removes a video of medical Doctors promoting studies of a COVID treatment, one that could save lives. There’s science to back it up, however it’s not science promoted by the medical majority. Thus, it is censored. As a result, people don’t have access to a potentially life saving treatment and will die - this is censorship.
Are there worse examples of this concept happening over the past century? Yes, of course. But censorship leading to the deaths of millions is certainly bad.