Repeated perjuries and an orchestrated campaign of obstruction of justice have happened. Nothing can change that. You cannot unring the bell. All that can be done now is to choose whether perjury and obstruction of justice will be condoned or punished. There is no third way, however much some politicians and journalists might like to have one.
Censure means less than a traffic ticket.
You can ignore censure with no consequences. A later Congress can even repeal it. But impeachment is set in stone in the pages of history, whether or not it is followed by conviction in the Senate and removal from office. If you want a censure that sticks, then you want impeachment. When all is said and done, either the president gets away with perjury and obstruction of justice or he doesn't.