Sure, even more decentralization would be good. Nevertheless, I think the usual concerns about Cloudflare are massively overblown and misses a crucial role that they're playing in the fight against censorship and surveillance.
Cloudflare is the first well-known provider that decided to support a working protocol for encrypted DNS. DoH might not be the best possible protocol, but it's shipping now and others are not. (DNSCrypt is also shipping, but it has the weird property of speaking something that isn't HTTPS on port 443. That's too easy to censor.) There will be healthy competition if other people would please stop arguing and start shipping, too.
I'm in South Korea. The censorship regime here is more prudish than draconian, and I'm not in any danger of prosecution for criticizing it. The way it is implemented is extremely crappy, though. On top of DNS-based censorship, ISPs are doing DPI on TLS handshakes to sniff hostnames in the SNI extension. Lots of techies here are very interested in new technologies showcased by Cloudflare. That includes not only DoH but also their proposal to use keys stored in DNS to close the SNI loophole. Once again, what works in this situation is not a novel, theoretically perfect protocol but one that ships now and blends into the petabytes of HTTPS traffic that Cloudflare handles every day.