A city council in the U.S. does not have to allow a general public comment time. Perhaps there are some states where it is required.
They can also allow public comment only as part of a hearing on a specific matter. Most states require this.
HOWEVER, if they allow an open public comment they cannot censor it.
I have experience in this. The Supreme Court of the United States has ruled on it. If it’s open comment time, they cannot censor except for obscene or threatening speech. All they can do is set a time limit. Don’t cuss or make violent threats and you’re good. If they censor you it’s an open and shut civil rights case.
If it’s a public hearing for a specific matter, they can restrict comment to that topic.