TV commercials work differently to ads online and have different goals, mostly driven by the fact that it's vastly harder to measure the effectiveness of a TV ad. Coke, for example, largely advertises because they want brand awareness rather than an immediate action.
IIRC, YouTube ads pay out after the ad has rolled for 15 seconds. I'm under the impression they're some of the only ads that are largely based on impressions rather than a measurable action like a click or referral.
You might not intend to click on an ad, but people do things they don't intend all time. Some forms of online advertising are vastly more effective --- retargeting being a notable one --- and you may find yourself clicking on such an ad to go back to a merchant's website, for which the publisher is paid.