That is what stops people from feeling comfortable in their nakedness: shame. There is nothing inherently bad about nakedness. After all, we were all born naked. Yet, our conversations, our media and our culture in general perpetuate this widespread belief that our naked body is something to be ashamed of.
I have found a lot of freedom in resisting this shame, and I would love to see more people embrace their naked bodies.
There is an undeniable culture of shame around nakedness, and, frankly, I think its stupid. Bodies are awesome. Naked bodies are awesome. Every body is beautiful, and there should be no reason to feel ashamed about being comfortable in your own nakedness.