Audiences can only be associated in a campaign or in ad group, and not both. If your campaign has a user list already, and then you try to add a user list in an ad group under that campaign, the API will generate an error. This is also specified on this guide specifically on the "If you are switching from ad group level user list criteria" line.
There are two IDs associated to an audience. The first one is an independent UserList ID (created when you create a user list) and the other one is a Criterion ID (AdGroupCriterionId or CampaignCriterionId) which is created when you associate your user list to a campaign or ad group and this has a scope of uniqueness. The Criterion ID is not globally unique. The CampaignId and CampaignCriterionID pair or AdGroupId and AdGroupCriterionId pair are globally unique. You can refer to this guide for more information on the uniqueness of the different IDs.