For me, if they are comfortable with it, I am comfortable with it. We are a pretty open family. I know my boys are younger than yours (5 and 19 months) but I think my opinion won't change any time soon.
As for the pool, I've seen signs at different pools around the place saying any boys over 6 have to use the male change rooms or the family change room.
At my local pool there's signs saying No boys over the age of 6 allowed in female change room (vice versa in the males, no girls over 6).
As for bathing, you do what's comfortable. I'm very open with my kids and I have no issue with them seeing me or DF. We never make a big deal out of it and they know boys and girls are different and why.
Your kids will tell you when it's no long ok with them!
My nephew was very shy from around 5 and no one could look at him!
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