I used to cuss all the time when I was younger. I feel no need to do it unless I
need (not in the survival context) to make a point where my emotion is relevant. (That's not usual.) Occasionally I catch myself using them every once in a while in casual conversation, then correct myself. The "lesser cuss words" I feel are fine to say around children. They learn the words in school no matter what. It's more about teaching them to restrain themselves. They need to be taught restraint and discipline anyway. (Like "Don't take from the cookie jar before supper," for example. Same thing applies to cuss words.)
Using them without cause, however, should be avoided. IMO, they're meant to convey a greater emotional strength to something. When your speech is saturated with those words they have less of an impact. It reduces their strength. For example, if a guy who cusses every two seconds cusses it's no big deal. If someone who has never cussed before (or very rarely) does so, it has a stronger impact.
Given that I've attributed cuss words to emotions, it clearly follows that I believe they shouldn't be used in places where emotion shouldn't be conveyed. i.e., business or formal situations.
Cheers,
Aaron