We're nakey here, too!
It started when DS was learning the potty. We found the easiest way to go was as much commando time as possible. And now well, at 3 years 3 months, he's 100% PL, but still likes commando! I am starting to insist that he wear undies and pants, if only to teach him that he can keep his pants around his ankles as he goes potty. Right now, if he has to go potty, he'll completely strip wherever he is from the waist down and then go potty. Then it's a hassle to get his underwear and pants back on him! Usually by the late afternoon, I'm so worn out that I just let him run around nakey for the rest of the evening - I don't even bother trying to convince him otherwise.
But I have absolutely no problem with him being naked. Especially when it was something like potty-learning, I felt his nakey-time was more important than guests' comfort. He's not allowed outside naked. If we have company, I figure if they're in our home, they can put up with our "naked" rules, and be okay with a naked boy running around! However, I must also say that our guests are all extended family and close friends. If I had "professional" guests, (such as teaching lessons) I don't know how I would feel about naked freedom! I'd probably insist he at least wear his underwear and a shirt.
Although, when DS was still in the commando stage of learning the potty, our cable went on the fritz so the cable guy came to fix it. DS was wearing a sweater and that was it. When the guy came, I hoped beyond hope that DS would stay in his bedroom, but you know how it goes - the doorbell rings, someone new walks into the house, and he's just gotta be investigated! :LOL So, DS came out, insisted upon a snack, and stood at the coffee table watching the cable guy munching on his food in all his commando glory! I apologized sheepishly, and the cable guy said, "Hey, that's okay! I've got a couple of grandkids the same age and I know how it goes!" So that was pretty cool - at least he wasn't going to report me to DHS for negligence or something... :LOL