Earlier quoted context omitted.
I think you missed the point of that one. He doesn't want to hurt other people, but realizes he won't know all the ways he could do so accidentally. So, in the interest of not hurting people, if he is unsure whether something will or not, he'll defer to smarter people about what's appropriate behavior. If you don't care whether what you say hurts others, you need do nothing, need defer to no one any time, ever.
What he's really doing is letting himself get censored by hecklers.
If you don't care about hurting other people, do whatever you want.
If you do care about hurting other people, do your best but recognize the limits of your knowledge--and where your knowledge is insufficient, defer to other, smarter people.
But again, if you don't care about hurting others, do what you want.
You don't have to share his goals in life. You can have your own. It's simple, and it's not censorship.