I would never dream of striking my son: when discipline is required, at the most I censure him with harsh words.
censere (to appraise, value, judge) (Latin)
censure, decry, denounce, deplore, deprecate, impugn, lambaste, reproach, upbraid
extol, laud, lionize
Try to link the meaning of this word with the censor board, which always critisizes every inch of the film and also disapproves some of the parts. the people who are very sure, always criticise others. censure sounds simillar to censor and when is something censored? When people disapprove of something, something which gets criticism from all over.