Personally, I think Howard Stern wouldn't exist based on assumption that without censorship more shocking people would be in his place
I can understand the difficulty of keeping children away from horrible content 100% of the time, but the first thing to do to eliminate this kind of censorship is to allow parents the tools to censor specific items in their own home. Whether that be V-chips or Netnannies, or what not... giving easy tools for parents to use in order to make sure little Todd doesn't watch Erotic Confessions on Cinemax will mean not just that this would ease problems at home, but also keep faulty parents from blaming art for ruining their children.
That's the realistic situation, IMO.
The more unrealistic solution would be to eliminate uncomfortable boundaries with sexuality and abstinence. I don't encourage the elimination of uncomfortable boundaries of violence for good reasons, but it's good to try and teach kids the beauty of unreal violence, and the horror of real. Perhaps in given time, this could become a plausible solution.