Regardless of idealized utopian worlds, as long as humans are capable of
a)having emotions and ideas,
b) imagining a world different than the one they live in,
c) autonomy of action,
d) communicating with each other,
and/or e) forming groups,
there will always be attempts to censor what someone thinks is offensive/harmful.



(edited, I recommend reading up on Haidt's 5 moral foundations for a broader view of what all you're dealing with regarding what types of things can be regarded as offensive/harmful and thus at risk of censoring attempts)