I can safely say probably all of us have grown up with it.
It's never necessary but we've grown accustomed to it. Some points do get lost without it, such as jokes.
I just think censorship in general is just really stupid.
It's like we say to kids all the time "sticks and stones may break my bones, but words may never hurt you", yet parents are just so butt-hurt when one little swear word might've reached a child's ears. Instead of keeping those things away from them as much as you can, why not just explain to them why exactly it is wrong and why they shouldn't say them? They are going to hear them one way or another.
And another thing is in songs, like on the radio, we know exactly what they're saying so why is it still necessary to censor them? I know it's a rule on radio that they can't put swear words, but if we know what they're saying, even with the censor, the message is still delivered. So, it's like... why?
I mean, I'm not one to swear a lot in real life anyway, but a lot of things about it just makes me really confused.