It's hard to be sympathetic with Charlie Hebdo. It's a magazine that claims the right to satirize anyone it wants in the most obscene manner, for the sake of its own amusement. It doesn't stand for anything more than that.
Should Charlie Hebdo be permitted to publish as it pleases? Yes, but the cartoonist who survived admits that it will be very difficult to do so. He also says that most Muslims wouldn't kill over a cartoon, and he's right about that.
He also says that Muhammad is "just a chap," and that's where this cartoonist goes blind. Muhammad is sacred to devout Muslims, and there are some Muslims willing to kill over such an insult. That does not fit his world view. It is an affront to his right to publish anything he pleases without the fear of violence.
I do pity this man, as he feels helpless. He clearly wants his Western government to protect his right to offend, but he has no idea how that can happen without offending his own deeply rooted beliefs about equality and fraternity among all peoples. He knows that there are Muslims who will never see it his way, and that they will resort to violence when they are slighted. He wants to believe that we all can live in peace ("I hugged a Muslim at Charb's funeral") but he knows deep down that we can't.
What a quandary. He might as well kill himself, I guess, because his world view offers no hope whatsoever.