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If you speak words which are (at the foundations) offensive to others, you are not practicing Right Speech very well. However, should you be around friends or alone, the words are just words.
"One should speak only that word by which one would not torment oneself nor harm others. That word is indeed well spoken.
"One should speak only pleasant words, words which are acceptable (to others). What one speaks without bringing evils to others is pleasant."
— Thag 21
Here's a whole page about 'Right Speech' on Access to Insight.