No one is claiming that accessing media that is in the public domain is piracy. We are specifically talking about media that is not in the public domain.
I think the idea is that we wouldn't need piracy if media would enter the public domain after a sensible amount of time. Now that disney + sony are essentially legislative branches of the us government we can be sure that nothing of value will enter the public domain ever again.
No one is claiming that accessing media that is in the public domain is piracy. We are specifically talking about media that is not in the public domain.