Censorship of what?
Who is forcing anyone to listen? The word you want is hear. And, if no noise ordinance is breached, then too friggin bad. Deal. It’s America, and they can exercise their constitutional rights as they see fit. Muslims get the call to prayer, you get to whine about it, I get to make fun of you for being a snowflake, you inevitably get the chance to slander me or whatever it is that you’ll end up doing.