To provide robust wireless data transmission over fading channels, various schemes which involve the use of relays have been proposed. In some of those schemes, the relay chooses not to forward the received message if its reliability is deemed as too low. Some researchers refer to such schemes as selective decode-and-forward. Our work in this paper falls into such a category. More specifically speaking, the relay in our system is a censorial relay (a relay that performs censorial task). It evaluates the reliability, in terms of log likelihood ratio (LLR), of a received data bit (from the source). If its LLR magnitude is below some preset threshold, then it is censored (i.e. not sent to the destination). When the channel is Rayleigh faded, closed-form bit error rate (BER) expressions for the proposed system are derived for several scenarios. Those scenarios are differentiated by the availability of an energy detector (ED) and the various degrees of knowledge regarding the channel state information (CSI). Aided by those closed-form BER expressions, the system parameters can be efficiently optimized to achieve the minimum BER. Simulation results are observed to closely match theoretical values, as computed by the afore-mentioned closed-form BER expressions. As compared to some existing relay-assisted systems in which censoring is incorporated, the performance of our system is better in terms of BER when the same amount of CSI is exploited.