Yeah they're censored. Japan has strict censorship laws about pornography content. Regular porn is censored too. It has a lot of historical and cultural aspects about it so there's a lot to dive into. That's why fans/artists will de-censor the material online or when selling to other countries.
It's just the norm, growing up with censored porn everywhere isn't something that'd be easy to change. Imagine if someone wanted to change the rules a bit, they'd practically be screaming "Hey let's remove porn censors!" and come off as a major pervert. They also have different cultural turn ons and offs, it's its own level or normalcy. Albeit soft core pron is practically everywhere in Japan.
Thank you so much for the intel, so it is safe to assume that yaoi DVDs are not being sold uncesored in Japanese's stores either.
I have been wondering if the original printed copies of yaoi Manga are sold censored in Japan. Does anybody know?