With an audio track I feel like a well timed bleep can actually make a scene funnier. Doesn't work as well if you're trying to play it serious though.
When it comes to text censoring isn't worth it IMO, at least the type where you blank out part of the word or use a derivative. Everyone can still tell what word you meant so if it was important enough to include then use the actual word. If it wasn't that important then you don't need to write the word you're worried about in the first place - there are other words that can be used for insults or emphasis.