Exactly.
We teach our children that
most words are just words. They mean nothing until someone assigns a context/appropriateness to them.
That said, we teach them that words have their place. If you are in the garage and you hit your thumb with a hammer, then be my guest, say whatever word makes you feel better. If, however, you are having tea with your grandmother, that probably isn't the best place for those same words if you slosh tea in your lap.

Know your location; words that you can use at home, in your room, in the neighborhood with your friends may not be acceptable around your friend's mom, with elderly persons, in school, if you attend a church function with a friend, etc.
The only words that are absolutely banned from use in our house are words that refer in a derogatory fashion to someone's race, sexual orientation, religion, or handicaps.
As always, "And ye harm none, do as ye will."