You can change this by increasing the "dom.ipc.processCount" preference in about:config, but there are still some known bugs with multiple content processes in desktop Firefox. There will be more work on multiple content processes in the future.
In both IE 8-11 and Chrome 1+ there are several tabs per sub-process. Chrome comes even with its own "Taskmanager" where you can see which tab sits in which process and how many resources it takes. You can find the Taskmanager in the Chrome's "Tools" sub-menu.
When you say the browser freezes, is it permanently deadlocked or does the video eventually start playing? Firefox 38 on Linux does not support MSE (Media Source Extensions), so YouTube's HTML5 video player can't use adaptive streaming. YouTube is blocked on Firefox's download and rate estimation of the video. It sounds like the YouTube player or Firefox might be stuck in a busy loop downloading the video.
To test whether the video download is causing the problem, you could try flipping the "media.mediasource.enabled" to about:config pref to true and "media.mediasource.whitelist" about:config pref to false (and restarting Firefox) to see if MSE helps. Alternately, MSE is enabled on Linux in Firefox Nightly (41) and Dev Edition (40) so you could just try them.
Does Flash play without freezing, if you have Flash installed? Flash on Linux supports H.264, but Firefox only supports VP8, VP9, and WebM unless you have gstreamer's H.264 decoder installed (but it has its own problems).
Maybe Mozilla is planning for the future better than all others. Perhaps in another 10 years Firefox won't be a shitty user experience. I will gladly switch if that becomes the case. I'm not holding my breath.