That's not true.
First off, if you take a look at the OpenVPN or UltraDNS full-on enterprise setups, they offer some really granular control over what will or won't be banned. They also offer both custom white and blacklists so that you can ban or unban websites as you feel is appropriate.
NortonDNS is young, but will most likely offer similar features; they are a commercial entity after all, and can't go around arbitrarily banning things without the ability to unban selectively or no one will buy their product.
Malwaredomains.com offers you a flat list of domains. What you choose to do with it is up to you; you can write a script that removes domains of your choice from that list. All of these organisations offer methodologies to have your domain removed from the list if you can prove you aren’t offering up Malware.
So it’s a form of VOLUNTARY censorship then. You can choose what you do and don’t want to be able to access through each of these methods, none of which you are forced to use in the first place.
Now, GoogleDNS on the other hand offers no such features. It simply is, and you either trust Google to know best, or you don’t. You don’t have to use GoogleDNS, but simultainiously you cannot customise what it delivers you. THERE lies your gaping hole through which true censorship might creep, and the big reason that it GoogleDNS didn’t make it into this article.
There is I think a distinct difference from the kind of censorship you are worried about, “they can just ban a domain and there’s nothing you can do about it if you use their service” (GoogleDNS) and the voluntary censorship offered by the services discussed in the article. Furthermore, it should be noted that each of these services publishes a list of which new domains are added on a regular basis such that you can identify any you wish to whitelist and do so.
For all of the above reasons, I don’t think you can wave the censorship banner at any of the services mentioned in the article.