Both terms are also connected in my mind to peer-to-peer but in the sense of a network where there are only peers.

What I want out of any of these terms is the ability to describe this wonderful thing that is the exchange of value directly between two entities, where all participants are on an equal footing and there is no authority who is in charge.

So permissionless is good because it implies no one can stop you from becoming one of these sovereign peers.

Censorship resistant is good because it implies no other peer can stop you from following the protocol.

P2P is nice because it implies there is no hierarchy.

It really is like we dont have an adequate word for this quality.