You get comfortable with a person or situation. I could undress at the pool showers, but i don't feel totally comfortable because lots of kids whose behaviour is unpredictable. They already stare. My husband, no problem. A nude beach in a civilized location, no problem. My chest hanging out of a shirt - no way. I don't need that attention. Other people LOVE the attention. That's why they do it. I hate people commenting on my body, always did.

How old are you, approximately? It gets better with time, and finding the right situations and person and getting to know yourself.