I like that you said you "personally don't like" instead of offended by certain words. I like vagina. I love pussy! I don't know why but pussy sounds sexy to me. Call it whatever you want. I ask women what they prefer me to call it.
I have had sex with 2 female cousins. It was great! We're not going to have kids or get married. At least in my experience there have been no problems. I don't regret it or feel weird about it at all. Everyone is different and there is always the chance that it ends up badly.