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Every child is different and so are their levels of modesty. My oldest daughter could care less about what she is wearing or not wearing. But my youngest daughter is very different. She not only cares about what outfit she has on, she also cares a lot about being seen without clothes by others. She doesn't care about me, her mom, but anyone else (even our cat) makes my daughter nervous.
I do think this is normal. Kids between the ages of 4 and 6 are in full discovery mode and often being seen naked makes them feel, well, naked. If your child becomes nervous about being seen while getting into the bath or getting dressed, don't make it a big deal. Just reassure her (or him) that they are loved. I always tell my daughter that her "body is beautiful" whenever she becomes nervous. I wrote a blog about this approach. Maybe it will help.

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