The only time my partner and I are in clothes at home is during the winter. Otherwise clothes are off. We have a private back yard as well as a fenced and gated area in front where we can hang out. I've worked nude in the yard a lot wearing nothing but work boots. The only time I don't is when I have to climb a ladder and can be seen. We keep shorts and shirts handy in case we have a visitor but with a lot of our cooler buddies, we don't even bother to throw clothes on. If they are planning to spend a while, they are more likely to get comfortable along with us.
Too many people associate nudity with sexual activity. While it does make sex an easy thing to get into, 90% of the time sex is not the goal when I toss off my clothes. Guys who can relax and hang nude with others display a sense of maturity. I was at a men's nude pool party on Saturday and while there were play rooms inside, it was all about relaxing and enjoying the fine weather outside. One guy was clearly aroused, saw him in the kitchen and then later outside, and nobody gave him a bad time or looked at him weird. Since he wasn't in a play room we all knew he wasn't trying to get something started, it just was what it was as he sat at the edge of the pool cooling off his feet.
My partner and I are looking forward to a naked getaway, maybe to the Russian River, during the summer. The private nude beach and campground we used to frequent north of Santa Cruz finally sold out to an open space consortium last year :-(