Congress can pass a resolution with any wording they like.
After butchering the meaning of the impeachment clause (which is actually in the Constitution) they will certainly have no inhibitions on butchering the meaning of “censuring” the President (which is not in the Constitution).
This article explains the history of censure (and notes that Congress attempted to censure Andrew Jackson.
https://fas.org/sgp/crs/misc/R45087.pdf
The article also discusses the other three Congressional attempts to censure Presidents (Buchanan, Lincoln, Taft).
Thank you.