This is so normal and actually quite typical.
My daughter was quite a little nudey and her grandmother threw an absolute fit like there was something nasty about it. She almost had a coronary because I took a picture of my daughter in the bathtub and offered her a copy. With all the bubbles, you couldn't even see anything but her grandmother said, "It doesn't matter! We all know she's naked!"
I personally think that little kids should be able to be naked while they can. I mean, you wouldn't have a large dinner party and a little nudist running around in front of everybody, but 2 year olds wanting their clothes off kind of goes with the territory. They do outgrow it. They really, really do.
My kids loved running around naked after the bath and standing in front of the fireplace to warm their tushies.
Trust me, when they get older, you will miss the pitter patter of little naked feet streaking around the house.
Best wishes.