I think it's important to realize that these words become offensive under two circumstances:

1. When someone deliberately uses them to offend you.

2. When someone uses them casually, without bothering to think about the fact that they are likely to offend you.

It seems to me to make a lot of sense to give an introduction, explain what you are about to do and why, and ask if anybody minds.

I know, it's not possible under all circumstances, but it will help avoid offense.

Jacob