Censorship ensures that a society stays in an adolescent mind-set: "You tell me I can't do it, therefore I want to do it and will break your stupid rules to make it happen." "Oh good, now I can punish you to convince myself that I was right in making those rules in the first place."
Fewer rules don't lead to more crime, they lead to more people being able to regulate themselves and choose wisely from a wide range of ideas and actions. If you raise your children with the attitude that their actions are their own responsibility and have an impact on other people, some may still go against your wishes -- because they're not you. That's how a society grows.
Encourage independence, responsibility, ethics and *wisdom*, not blind adherence to arbitrary rules in fear of punishment.