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I don't think you're doing your children any harm, but I don't think you should wait for your son to ask you to put some clothes on. It puts too great a burden on him. Even in the most open families it's hard for a 13 year old kid to say, "Uh, Mom, why don't you put some, you know, clothes on." Use your own judgement. If you sense that he's uncomfortable, just put a robe or something on. Chances are, he'll never comment on it and it will be no big deal. If he has to ask you, it may not be a big deal to you, but it will always be to him.