Should criticism be able to be voiced without burning literature? Yes. Do I think climate activists should be able to be heard without disrupting people's commutes by blocking traffic? Yes.
Unfortunately, sometimes activists are ignored without an unusual act of protest, and protests should not be considered hate speech unless they're directly calling for violence towards a group. I don't think burning a book falls under that category.
With all that being said, the government should not be responsible for deciding what a person can or cannot do unless they're actively hurting another person.