Is there a difference between censorship and criticizing people's opinions?

Big time.  Sadly the snowflakes have turned to making sure no one is actually ever heard if their opinions differ from anyone else.  The boycotts are an example.  Cancel culture.  And best of all, intimidation of innocent diners having dinner who might not hold their opinion on the Breanna Taylor verdicts 

Yes.   The first is you do not let them give their views,  the second  is they gave their views and you argued with them. 

A very big difference.  Not allowing criticism of opinions, if done by the government, would be illegal censorship.  If not allowed by a private entity it is just reprehensible.  

Yes, censorship is concealing and hiding them, preventing them from being heard, read, etc. 

Criticism is acknowledging their opinions and responding to them through argumentation.

Yes, criticism is part of debate.  Censorship is the end of debate.  LOL