If an advertisement for a video tutorial series teaching people how to use the 3d software Blender should happen to show up along a "Will It Blend" video, nobody should lose their job (or your money) over it. This mentality is ignorant of everything we know as technology professionals about how this business is run; so much of this process is automated and there is no conceivable way for it to not be. There are not enough humans needing jobs on this planet to manually sort video for prospective advertisers in the way you expect.
YouTube has since improved their detection algorithm (even if it has more false positive, likely) to keep advertisers on the platform. It they didn't do this, the only alternative would be to WHITELIST advertisers, which would mean that nobody would pick you and only the big names would get revenue.