When people object to swearing, I don't think it's the use of emphasis that they're objecting to. Nor is it that an exclamation is being made (if it is, as in "Oh poppycock!", above). Rather, it's the implied debasement of something private or sacred. This enhances the emphasis, but it's the method rather than the goal that offends those who are offended by swearing.
As such, making up words to use as emphasis words doesn't actually offend, which is largely what makes the bit you link to funny, as far as I can tell, and it's why "darn" and "dang" are much less offensive even to those who would censor swearing.
There's an old Irish pastime of insulting someone to their face without resorting to blatant profanity, and if you've ever heard it you might reconsider your position.
As such, making up words to use as emphasis words doesn't actually offend, which is largely what makes the bit you link to funny, as far as I can tell, and it's why "darn" and "dang" are much less offensive even to those who would censor swearing.