My friends (from the other side) can hear my thoughts. And it could be because they talked to my subconscious and it allowed them to.

But regardless... the reason we are afraid of anyone hearing our thoughts is because people usually judge us. Beings from the other side don't judge. They just accept things as they are, they understand things as they are and there is no need for judgment. Judgment is some kind of a mechanism used by us in this life, which is useful for us in this life. But it sounds like it's not necessary for them and that's why they don't use this mechanism anymore.

Your mom wouldn't be upset by your thoughts because she would be using a different perspective to interpret them.

Maybe it's more like a doctor looking at your naked body... people usually are shy with strangers, but they open for a doctor. And the doctor uses a different perspective to SEE your body than just a stranger would.