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Some familys are 'naked families'. Others aren't. I live with my parents and my younger siblings and none of us have had a problem being naked around eachother. My brother and I started to cover up a bit more when we hit puberty but thats because you get kinda self concious as your body changes. But i know if i wanted to be naked in the house it might cause problems. For example, i can't imagine my mum wanting to sit and watch tv with me when im naked! Just because its not the norm and its not what we are used to here.
With regards to your parents, you should remember it is their house and if they are uncomfortable with you being naked around the house then you kinda need to respect it. When you get your own place be as naked as you want!
It would be nice if people could be more accepting and more comfortable with nudity but this world is obsessed with covering up things that are perfectly natural and beautiful. Ask them if they are cool with it and if not, you just gotta respect it and cover up! But your mum brought you into this world naked and saw you growing up naked so why should it matter now you are older?