Live TV is always risky. You never know what a "free spirit" performer will do. A more frequent problem is a perfectly refined news anchor mispronouncing a word so that the audience hears something that is not permitted on TV. Just a little spoonerism is all it takes.
Big production numbers should always be prerecorded so that embarrassing events (falling on stage, engaging in controversial behavior, etc.) can be edited out. With multiple cameras running, there should always be a closeup of a musicians hands available to insert so that the sound track is not interrupted.
I realize this doesn't respond to the question of censorship. If certain things are going to be censored anyway, TV producers could exercise a little caution and be in a position to not have to cancel an entire performance. If they want live, spontaneous programs, they have to take some chances. I just hope this incident doesn't damage Adam Lambert's career.