There is a way to monetize videos that you have uploaded to YouTube, but it requires that you enroll in the YouTube Partner Program. There is no automatic compensation program based simply off the number of views for any YouTube video.
Once enrolled in the YouTube Partner Program, you will receive a portion of the ad revenue that YouTube generates from ads placed on your videos. This ad revenue is generated when a viewer clicks on one of the embedded ads. In 2012, YouTube reported that their top 500 partners each earned more than $100,000 per year from their shared revenue earnings.