I finally located how to directly access the online Census community maps (these are maps that show the borders of cities, villages and hamlets, referred to as census designated places or CDPs, and not the borders of the same-named, but non-conforming, ZIP Code postal zone):
1. First go to:
American FactFinder
2. At the top of the page, where it says, "Get a Fact Sheet for your community...", enter the name of the city, village or hamlet in the box labeled "town" and select New York for "state", and then click "GO".
3. Finally, at the top of the tabular listing of maps, to the right of "Census 2000 Demographic Profile Highlights:" click on "Reference Map"
Using "Roslyn Heights", for example, you get:
http://factfinder.census.gov/leg1/22/97876322.gif (broken link)
And, for "North New Hyde Park", you get:
http://factfinder.census.gov/leg1/29/97876329.gif (broken link)
You also will be able to access tables that show how many and maps that show where the different races and socio-economic groups are in that city, village or hamlet!