Common roommate courtesy

My boyfriend and I currently have roommates, friends that were down on their luck our place was the last resort. No big deal.

Recently the conversation came up about how much time my so and I spent in our bedroom with the door closed. It kinda made the roommates feel like they aren't welcome. So we sat down and had the conversation. We have a master bedroom bathroom so never have to leave to pee. Bonus! We also have our TV and his desk in the bedroom.

My boyfriend likes to play computer games in just his boxers. And walk around naked. As for me I normally wear a bra and shorts if I'm not going anywhere. Neither of which are really appropriate things to wear around anyone other than ourselves.

The roommate tried telling me it was our house and we can do whatever we want. And that the last time they were the home owners everyone knew what he and his girlfriend look like in under garments. I dont know about most but I consider that stuff for my boyfriends eyes only. Even if I'm wearing a crop top tube top I throw a shirt on to walk out there.

Is it like common house manors to not walk around naked or is it just my boyfriend and is strange thinking that we need to have coverage?