I wonder if Diana's only scene with Richard in bed was censored? according to the script
As far as the scene with Diana and Richard in bed in # 023 <2.05> I don't know for sure how it was filmed, but I'm sure it was not "censored". The scripts were always written in a way that overly sexual scenes were avoided. Lorimar had to stick to that due to CBS' program practices. CBS was very rigid as far as bed scenes were concerned and dictated how the angles should be chosen and where the blanket had to be positioned to avoid too much nudity. CBS got a copy of the script before shooting, and could veto scenes or dialog, etc. Being familiar with their program practices, the scene as written in the revised final draft of the script does not contain anything that could have been regarded as problematic under CBS' guidelines.
I can't tell 100 % about the production process of this scene because we do not have the shooting schedule for this episode, nor do we have this shooting day's call sheet or production report. However, I don’t think the scene with David and Shannon was filmed separately, nor do I think they added the part with David at the bar in a later (re-)take. I think they simply edited the beginning of the scene since they probably felt the information about Emma wasn’t necessary due to other references about her being on the run and Richard’s investigators following her. That is why the scene has an unusual number of close-ups right from the beginning. If they had kept the whole scene, we would have seen Diana and Richard together. It's not unusual to take out parts of scenes because the network dictated the exact screen time per episode, and the dailies and director's cuts usually contained a lot more footage than what was usable in the end just out of necessity to stay in the time frame. I once tried to verify with David that this scene was filmed as described and just shortened, but he didn't remember.
When David later takes the phone and sits down next to Shannon on the bed, you can see the same gray set wall in the background, which is an element of Richard's New Globe office (and was apparently moved over from the other side in exchange for the window element). Behind the lamp on the nightstand, you can also see the frame of the back door, which is in the corner between the "exterior" wall and the bar cabinet — the same back door that later made "Back-door Erickson" famous.
Even though the bed is the same prop as in Richard's later apartment in San Francisco, this place is actually supposed to be a different place — apparently his sleeping quarters in the office building, which is also proven by the generic shot of San Francisco to establish it rather than (as the script originally suggested) a specified highrise. We know from later episodes that Richard does have an apartment in the New Globe building. This scene was definitely filmed on the sound stage with a slight redress of his New Globe office. The actual apartment Richard later had was filmed in a private condo at the Ten Five Sixty Wilshire highrise at 10560 Wilshire Boulevard in Wilshire Corridor. It became available for filming in late October 1982 and was first used for # 031 <2.13> (although not as Richard's apartment in that episode, but as Phillip's); in # 032 <2.14> when it was first used as Richard's apartment, it was also redressed as Lori's apartment, by the way, as we stated in our BTS section. In the scene with Melissa and Richard in bed from # 033 <2.15>, you can see that the wallpaper behind the bed is completely different from the set in # 023 <2.05>.