There's a difference between discouraging a word from being used in certain contexts, and then there's censorship of what, for many people, is the official lexicon of the English language.
Yes, people will get offended by the word "handicapped." If people stop saying it, someone will find another word that suddenly takes on the connotation of being egregiously offensive. The problem isn't that a word exists, but rather, it's that people are egocentric starfishs and get offended easily. It doesn't matter how you wrap your offense, whether it be "for the sake of other people" or "it offends me," trying to remove a word from a language because you don't like it is a ridiculous move.