Come on now. No it wasn't. It was about outright homophobia. Being respectful would have been saying "this person simply being gay doesn’t affect you in any way. So anybody who is uncomfortable with that is free to leave."
That's not comparable with whether you choose to put your underwear on in the presence of strangers.
As I said, there are elements of cultural differences. In some cultures it's rude to show any affection in public. In others it's rude to show the soles of your feet. But in pretty much all cultures, it's not socially acceptable to walk around naked.
Again, I'm comfortable being naked. There's nothing wrong with being comfortable being naked. But creepiness is about a failure to consider other people's comfort. I presume you would at least give a little more thought before getting naked in front of a child. Especially if they didn't know you. Why is that? Is that prudishness? Or just common courtesy?
To go back to your "don't ask don't tell" example, there's an argument to be made that significant public displays of affection might be considered disrespectful in an environment where others have left their partners at home. I think that's a fairly weak argument, but I've never been in the army. I could understand a rule against all such behaviour, regardless of sexual orientation.
But the issue with "don't ask don't tell," is that it only affected gay people. (I'm chuckling to myself as I write this because i'm absolutely sure I don't need to lay out the problems with "don't ask don't tell" given your username and profle pic. I'm just highlighting why it's not a good comparison).
That said, if you don't understand why a woman might be uncomfortable in a state of semi-undress around a strange man, I suggest you speak to more women. Pretty much anywhere in the West, and in many other parts of the world, this should be a no-brainer. Not least because, dude, is what you have to say so urgent that you can't wait until she's finished??