I honestly don't see the difference at all. The user intent is identically clear, regardless of the mode of input. What if it was speech-to-text and the software refused to input my clear annunciation of "fuck"? STT requires some guessing and judgment calls too, but I would definitely call it censorship if the software refused.
> user intent is identically clear
Which is another way of saying identically ambiguous.
Resolving for a safer option when given a choice isn’t censorship in my view. I can, at the end of the day, type out fuck.
> The user intent is identically clear, regardless of the mode of input
That's the whole point: swiping is a very imprecise method, and the user intent is not clear at all, so Apple avoids making "controversial" guesses.