I don't think you have to be a fundamentalist to have a problem with companies that run sexually suggestive advertising on programs that children are watching.
I respect your decision, I don't think you're harming your kids in any way, but I've made a different decision about how to raise mine. Swearing, yes. A boob or two? Maybe. Overt sexuality? No.
I'm not 100% sure I found the right youtube video of the advert... (hulu is flat out countriest), but it sounds like either kids won't get the sexual references, or will just see it as funny nude people :/
I'd much rather my kids see a pair of boobs, than see a guy shooting another guy with a gun, which for some reason seems to be totally acceptable.