For most people, their initial discomfort disappears very quickly, once they realize they are not being judged on their appearance. It's about relaxation, freedom from restriction - and to a very large degree, it's about honesty. Naturists are judged on their personalities alone. They take away the trappings that most of us have around us every day. They have less to 'hide behind'.
Many naturists form very close non-sexual friendships, with a very strong bond.
Honesty also spreads to most other aspects of naturist living. At naturist resorts, thefts and other crimes are almost non-existent. Being nude can also be incredibly relaxing. The feeling of air, sun and water on the skin is a terrific stress reliever. Most people know this, of course.