Really...when you think about this topic, how many of our SO's wear a dress or skirt on a daily basis? I know that my wife for one wouldn't wear a dress or a skirt if her life depended on it. She wears mostly blue jeans or "chinos" daily, but underneath she wears panties and a bra. Does this make her a CD? Of course not!
If we wear panties and a bra under our blue jeans and blouse (shirt), and nobody notices it, so be it.
For me it seems like it really shouldn't matter what we wear for underwear as long as we don't flaunt it or show it off intentionally. Look at the woman next to you...on the average, can you tell what she's under wearing? She's probably wearing something that's "comfortable" to her. That's what I do too!