You can likely take every public IP your organization has, run it through that, and see what your attack surface looks like. Very useful if you have an unmanageable and public computer network.
Censys? Probably not. It depends how much you value having the data provided in an easily digestible and searchable form that's hopefully updated often.
On the other hand, if you have a small subnet, say, less than a /24, you might as well just nmap it yourself, and then you're also guaranteed to have the latest possible scan.