No, they don't disagree at all. They say you can replace A MEAL with ensure. Not all of your food consumption period. There is a big difference. They only ever talk about using ensure as a supplement to your diet, not a replacement for it. If you want to live on ensure you need to drink 5 ensure completes per day, plus consume some extra calories, possibly some extra protein, some salt and a few vitamins. But they explicitly recommend that you do not exceed four servings per day: http://ensure.com/nutrition-faq
They say not to have more than 4 servings of _Ensure High Protein_ because of the protein content. I am not talking about that product.
In the FAQ I pointed to they say that Ensure is safe for long term use, is complete, and they answer a question about how many servings a day are necessary for meet your needs.