Broadcast TV is always more censored because it uses public airways, so the feds have jurisdiction... but for the purposes of this discussion of old-timey censorship, there is only the big three to worry about--cable and streaming were nary a glimmer in little Ricky's eye.

Might that be more about Fawlty himself? From what I recall of British television, it would not be unusual to have breasts and bums bouncing around your TV screen after a certain hour.

Here's a little analysis from the Guardian, for which I did have to brave the search term BBC:

https://www.theguardian.com/tv-and-radio/tvandradioblog/2016/feb/02/flashing-the-flesh-a-history-of-tv-nudity-penis-mr-darcy

That's interesting. So the implication they were avoiding is that unmarried actors would never even be in the same bed under the covers under lights with a full cast and crew filming them? Wild. Or maybe it's just something Lucy was able to insist on, and that she was married gave the studio a way to forbid it for everyone else.

They definitely had separate beds in I love Lucy