Censorship is just limiting/preventing speech. It can be by government, private organizations or even individuals. Governments can censor. Companies can censor. Your parents can censor.
Historically, since governments have been the most powerful institutions and our focus was primarily on preventing government censorship.
Censorship by private organizations and private individuals is legal ( including self-censorship ). Censorship by government is generally illegal in the US.
But that doesn't mean twitter can't censor. They can and they do censor. It's just that it is legal and their right to censor.
Hope that clears up any confusion on censorship.
But here's a thought, as corporations get more and more powerful ( even more powerful than many governments around the world ), should we as a society think about protecting citizens from corporate censorship?