While labor will be a big deal to you, the drs and nurses see it multiple times a day. They will think your nudity and coping mechanisms (screaming, grunting, whatever) to be absolutely, run of the mill normal. You could discuss ahead of time with your husband how you want him to behave. Mine thought he wouldn't want to look, but ended up being fascinated and impressed.
Have you considered getting a doula? One might be able to help you work through some of this.