Well, it's blatant fanservice for sure, but it also makes sense. As a dragon who's spent all her life without needing clothes, she wouldn't care about being naked in her human form either.
And personally I don't see the point of censorship. If she's naked she's naked. They also show rather gorish scenes as well, so I don't think this manga's target audience is one that shouldn't be watching uncensored nudity anyways.