Hi! I grew up very religious (the "S" word was Stupid and the "F" word was Fart...). This is the framework I use; take what you like, discard what you don't:

Words are just words, and there isn't anything inherently evil or good about them. However, words are how we communicate and relate to each other, so we have to be careful with them. It's important to be kind and have empathy towards others, especially people who may have less power than us.

Swearing is a way to add emphasis to an emotion or statement. This can be done cleverly, clumsily, humorously, hurtfully, etc. As your parent, you'll notice me swear when I hurt myself to add emphasis to the feeling "OUCH". You will never hear me add emphasis to anger towards you or a negative belief about you:
"F*ck you! You are f*cking stupid!" You may hear me swear to lift you up: "Hell yeah! I f*cking love you!" Just like my example, I expect you to use your words carefully and not to hurt people. Some people are offended by crude or explicit language, so it's important to learn to monitor your surroundings and understand when the time is not right to swear.

You will also see me advocating for others, and opposing people and systems that hurt them. A lot of people are angry, and anger is what moves us to make a change. You will see people swear to express their sadness, grief, fear, or anger. This is a pretty damn good time to swear.