To start, I want to be clear I have zero issues with the characters Aaron Pierre has played. He's a talented actor and from the interviews I've seen a wonderful person.
Aaron Pierre, per Wikipedia, was born in London. His mother is from Jamaica, and he has Curaçaoan and Sierra Leonean heritage on his father’s side.
His acting history includes playing Malcolm X and in the case of Lanterns John Stewart who's character history and in the show Lanterns deals with being a black American. Aaron Pierre is not a black American, should a black American have played those roles? A black American and a black Briton are both black and both minorities, but they're not interchangeable.
To extend further, can someone who is Chinese play a Japanese character, or a Korean character because they're all Asian?
To bring everything full circle, Hank Azaria was born in Queens, NYC. Per Wikipedia, "his paternal grandparents were Sephardic Jews from Salonika and Smyrna. His paternal grandfather... came from Salonika which was then in the Ottoman Empire, today the Greek city of Thessaloniki in Greek Macedonia. His paternal grandmother... was born in Bergama, modern-day Turkey (Izmir Province)."
Hank Azaria previously voiced Apu, Carl, Lou, Bumblebee Man, & Doctor Nick. Hank Azaria continues to voice Italian characters Luigi, Legs and Johnny Tightlips. Hank Azaria is not Italian. Should he continue to voice those characters?
Voice actors and traditional actors can and do play a wide variety of roles. I think expanding who has access to roles is a positive thing. At the same time I think we should give actors the freedom to act, even if they don't "fit" the role.