On 19 January 1959, Araújo was appointed an auxiliary bishop of the Archdiocese of Belo Horizonte by Pope John XXIII, with the titular see of Verinopolis, receiving episcopal consecration on 7 May of that year. He served as rector of the Pontifical Catholic University of Minas Gerais from 1960 until 1981, and participated in the Second Vatican Council between 1962 and 1965. His ministry was focused on education and social communications – for several years, he was in charge of a daily radio programme entitled "" ('The Word of God'), broadcast by Rádio América, as well as of a Sunday television programme.