Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Americans pronounce censorship as SEHN-ser-shihp (/ˈsɛnsərʃɪp/). Stress falls on the first syllable — keep everything else short and quick. You'll hear it in sentences like "Censorship of the press is considered a violation of free speech".
Record yourself saying "censorship" and play it back. The mic stays on your device — nothing's uploaded.
3 syllables, 8 sounds. Tap a syllable to jump to its row, then explore each sound's mouth shape and how it's made.
Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Drop your jaw moderately. Touch the tongue tip behind the bottom front teeth and lift the mid-front part slightly toward the roof.

Touch the tip or front edge of your tongue to the roof of your mouth behind your teeth. Air flows through your nose.

Flare your lips and lift the mid-front tongue close to the roof of your mouth. Blow air through without voicing.

Drop your jaw slightly with relaxed lips. Touch the tongue tip behind the bottom front teeth and arch the top-front toward the roof.

Press your lips together to stop the air, then release. No vocal cord vibration.

The textbook way isn't wrong — it's just not how anyone actually says it.
Stress falls on the first syllable, not the others. Stretch SEHN — keep everything else short and quick.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.