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Censorinus is one of the two named friends of Publius Crassus who died with him at the Battle of Carrhae. Plutarch calls him "a man of senatorial dignity and a powerful speaker." During the battle, Censorinus is among those who ride with young Crassus on a last desperate cavalry foray; after sustaining heavy casualties, the Romans and their Gallic auxiliaries retreat to a sand dune, where hope is soon lost under the constant barrage of Parthian arrows. Wounded and with his sword-arm incapacitated, Crassus orders his shield-bearer to take his life. Censorinus does likewise, and dies at his side. Their friend Megabocchus and most of the other officers commit suicide.