Some of my friends thought I was crazy when I used actual names for my children's body parts, from the time they were born. No 'weenies' or 'bobo's' for us, I used the real terms. They also learned from a fairly early age (when they were old enough to be curious about such things) what regular sex was and what oral sex was. Knowing actual names helped out with the oral sex talk. As they got older I told them more.
They hated road trips, because they would sometimes get 'sex talks', if the conversation took a turn I thought warranted a bit of parental clarification about something they said. I also knew they couldn't get away.
They are thankful now I was so straightforward with them. They come to me for some interesting conversations, too.
But no worries of pregnancy, and I didn't do it by censoring what they read.