Speech as an act causally linked to a desired consequence unrelated to communication, like falsely shouting "fire" in a crowded theater, or commanding a subordinate to shoot someone, or etc., isn't really protected (I'm not very familiar with US Law, but I can't think of counterexamples). These limitations don't usually register as "censorship".

In the US you can't directly command someone to shoot someone but you can advocate that someone deserves to be shoot (see Brandenburg v. Ohio)