Being naked is fun...for children. It can be very freeing.
However, I understand your concern. I think most children go through some period of this desire (my children often want to sleep naked).
There is nothing wrong with a child being naked but this must have limits. I taught my children about private areas very early and I would insist that your child keep her diaper/underpants on at all times. Simply say to her "privates are private". She won't understand your words at first, but you would be surprised how fast the understanding will come. Your other concern, outside and with company, must also be taught to her. We behave differently with family, we behave differently in our house then at other times. While your body is beautiful there are appropriate times to be naked and with company and outside is not one of them.
I understand that your daughter is very young and won't understand all of that, but she can learn appropriate and inappropriate behavior. This is your opportunity to teach her both a love for her body and modesty at the same time-run with it
By the way: I use appropriate language with my children from the begining. (your vagina is private). I would use the word modesty (we actually use the Hebrew/Jewish law word for modesty with our children). There is always the good privates are private line as well.