It all depends on what you say, to whom, about what, and in what climate. Within any society censorship is really just the blunt flip-side of politeness. What people don't talk about over the tea-table will usually be censored in the realms of power.
Censorship comes in a number of flavours.
Another type of censorship is more vicious and has as its goal the suppression of any information which might undermine the ruling paradigm. A third type which seems a bit missing these days is self-censorship, sometimes known as good taste, discretion, common sense, and harmlessness. Menelaus and his brother King Agamemnon gathered up lots of other Greek heroes, including Ulysses and Achilles, and sailed off to Troy to rescue Helen. More on all that in a bit. His little love offering turned sour, however, when Cassandra refused Apollo's romantic advances.