In context, I don't think the beheading scene would have been very offensive. Maybe it would have garnered a few complaints but I think the BBC jumped the gun.
I really enjoyed the episode. Nice thematic material with the comparisons between Robin and the Doctor, the nature of legends, heroism etc. Tom Riley(?) and Ben Miller were both fantastic as Robin Hood and the Sheriff respectively, and Capaldi is really settling into the role. I normally don't like Gatiss' eps but this was the first one which I thoroughly enjoyed, so it's probably my favourite one. It felt as if it was written for Matt Smith and it probably would have worked better in Series 7, but it was still great here. I give it a 7/10.
Next week though...