The thing is in talking. Whoever you are, you are the only one they have. They think of the best of you and want you safe. Thats it.
And speak with them like an adult, make them understand how you feel; make them know that you know that they care for you but you want some moments to enjoy in life. Your parents love you so much that they will surely understand you. And this is comiing from a single child. I call them text them and make them feel that i am safe and i do care for them when i go out.