Earlier quoted context omitted.
No, you don't. You can have DNS-based aliases to pubkeys, and then people will follow pubkeys and interact with pubkeys, not with the DNS aliases. So if these users are censored later from the DNS then they still keep their identity, their contacts, their followers etc.
That's kind of like saying that people don't interact with domain names, but with IP addresses. The point of having the mapping of a name to a key is for users to use it in place of the underlying key in their interactions with the system.
The analogy would be valid if IP addresses were permanent and DNS was only consulted once -- and then communication between these two parties was done directly through the IP forever.