I'm in the "I feel sloppy and unproductive if I'm in pjs" camp. But I think it's because I'm lazy enough that I just can't get myself to do anything if I'm wearing stuff I sleep in. I don't think someone who manages to do their normal day-to-day stuff in their pjs is lazy, I think they're more on the ball than I am.
My oldest right now is into making sure he's dressed "right," which means "like Dad." So he gets changed into an undershirt, pants, socks, and a shirt/sweater in the morning, and wears that all day until bedtime. I guess he hasn't noticed that dh changes out of his work clothes when he comes home.
My middle kid likes to wear shorts and a t-shirt. Clothes tend to make him itchy, so he wears as little has he can, always soft stuff. I'm thinking of splurging on some HA for him for Christmas.
Toddler would be naked all day if she could. Generally she doesn't mind pants & a onsie.