To get a message from person A to person B, 
1. Person B needs to know they want to hear from person A
2. There needs to be a channel to achieve this. 

With privacy, person B needs to be listening for person A through a communication channel that is inconspicuous to those trying to disrupt communication 

Censorship resistance is about person B   discovering person A. The communication channel needs to be unstoppable.  

 Of course, and by that example we see there is no contradiction and the communication can be both private and censorship resistant, since we can assume there could also be person C D E F G ... times infinite and in that scenario it's not easy to censor A and B if they look just like C and D