They basically all had to do this. In a bunch of my German Strugatzki books there are a few snippets about the history of the works where they talk about how they worked around it (and sometimes rather didn't publish stuff than to kill it).

The techniques are the same as "always" (you find exactly the same if you look at old movies in the US): Don't say the important things explicitly and provide explicit decoys for the censors to latch onto. And have good editors that are willing to fight for you.