@mammal: did you really want to say “cut off” and “erections” in the same answer?
On the one hand, we never make a big deal out of being naked. After a shower, getting changed, getting ready in the morning. Our doors are always open and we’re often in various states of undress.
My daughter (8), has always gone along with this naturally.
That being said, we’ve always demonstrated that nudity is a transitional stage (as it were). We never just hang around naked or choose not to wear clothes. Again, my daughter has always seemed to get this.
Well, except for the few times she’s ripped off her clothes (in anticipation of a bath) and yelled, “I’m naked!” – but hey, we all gotta cut loose sometime.