Generally speaking, if the word is obvious (e.g. "d--n" - it could be "darn", but then it most likely would not be censored
), I say the word. If the censored word is a series of dashes (or other symbols), I'll say "blank" as it's not obvious what the word should/may be. To me, it's a case by case decision, mostly depending on the surrounding context.
And, IMHO, that should not be an issue under standard PL guidelines, more so as reading along in the text is not required, so the minor "difference" would not be noticed, and is otherwise well within target accuracy guidelines. For word-perfect guidelines, the answer may be different (as I haven't yet recorded under that stricter standard).
So I'd suggest that the answer is what you most feel comfortable with.
Don