Censorship too much?

In today's society I understand how censorship plays an important role in the development of society. But can censoring too much prove to be more harm than good? I believe so. For example they removed the video of the baby and Will from Youtube because it was offensive and the public can view this on a heavily visited website. I understand content such as that needs to be censored from the younger generations, but removing it from the site is a bit much. Youtube does contain a function that requires the viewers to be an adult before watching certain videos and that they agree to the terms of service and agree that they are an adult. I also understand that many minors do lie about their age and state they are an adult when registering on the website, but that is where parents should step in and if they feel that the material is innapropriate they should censor their children from the material, not blame the company or the general public that their child has developed a habit for swearing. I say that censorship should mostly be a parent's duty to their child, while the general public just advises the parents that certain material may not be suitable as many already do.