The classic rock song in question on January 15, 1967 was “Let’s Spend The Night Together,” which they were asked to clean up to say “Let’s Spend Some Time Together.” After all, CBS did have censors, and in those times the actual sex act was not something mentioned in polite company, much less before a mainstream, prime-time TV audience.
The Stones relented and performed the song as requested. In the above video clip, you can see Mick Jagger roll his eyes as he delivers the altered line. See it here