My brothers, sister and me all have gone naked growing up. Now that I'm older should I continue?

I'm 14 now and I am a man and look like one. My one brother and my sister are still not past puberty. We have always been around the house and in our pool. My mom and dad are like nudists and raised us that way too. They say its totally normal but I look different now and I do get hard sometimes in front of them totally just by accident. Everyone says that's cool and should not be embarred but I am and they all make fun of me for hiding myself by the pool and using my towel to wrap around me. My parents are really zen and enjoy having their friends over usually for swim parties I don't have any friends who are nudists but my parents are and I feel that their friends really stare sometimes at my manhood. They even complement me on how I look. I don't think I want to be a nudist but still my family are usually around the house. Should I just tell them I would rather wear under ware or something like that?