Still not sure satire is the right word for it, but they did tackle issues like race, gender, overpopulation, and war at a time when those issues were not talked about on prime time TV. Make aliens do stuff that mirror current events and you can get away with a lot of social commentary that you normally couldn't.
No way they could have gotten a show on air in the 60's with a planet of white people and black people at war, but make them aliens, paint them half white and half black, and you can get away with it.