Araújo participated in the general conferences of the Episcopal Conference of Latin America held in Puebla in 1979 and Santo Domingo in 1992; he served as one of three co-presidents for the latter conference. He was named the coadjutor archbishop of Belo Horizonte on 22 November 1982 by Pope John Paul II, succeeding João Resende Costa as archbishop on 5 February 1986. From 1991 to 1995, he served a four-year term as Vice-President of the Episcopal Conference of Brazil. Araújo was created a cardinal by Pope John Paul II in the consistory of 21 February 1998, and assigned the titular church of San Luigi Maria Grignion de Montfort. He retired as Archbishop of Belo Horizonte on 28 January 2004 and was succeeded by Walmor Oliveira de Azevedo.