I am of the opinion that everyone deserves to be offended, that anything from cut-up corpses to hardcore pornography to kittens in a blender should be acceptable on public billboards across town. Whether or not it is a nice thing to do is a different question of course, but if you see other people, do not expect them to conform to your standards.
In this case, sure, the cops, and pizza delivery people, and package services and so on are just doing their job, but they are still entering someone else's personal space doing it, and I would argue that something becomes acceptable in your personal space long before it becomes acceptable on a public street.
Basically, there are two factors at play here. One, which I am championing, is that the resident should always have more authority over the nature of an interaction in a home than the visitor. The other, which you correctly noted, is that meeting people while clothed is more in line with the norms of society than while naked. Which one of these wins... I think that is a lot less clear-cut than the edge cases I mentioned. If the visitor's objection is about something that the resident cannot change about themselves, it is obvious. If the resident is going out of their way to offend the visitor, it is also somewhat clear-cut. However, between the two, there is a lot of grey area, where conforming to your visitor's wishes is of course always the more courteous thing to do, but not giving a fuck about your visitor's feelings is, well, maybe not the right thing to do, but also not exactly wrong, more like morally neutral.
Just do not expect the people you gave an eyeful to like you and want to do business with you afterwards. And watch your local laws.