Swearing actually, believe it or not, makes the world, the setting and the characters more believable. If Naughty Dog censored swearing in the games as much as you want, it would have broken the immersion in the game. I just can't imagine Ellie not swearing at all, it would be funny.
By the way, in Uncharted you are shooting guys in the face or breaking their necks and you're more concerned about your kids hearing cursing in a game? You have your solution already, don't play those games around them.
* plays a game with murder, gore, & violence in front of small children. Complains about use of the F word.....smh
Pretty much this...
If OP is worried about the children hearing it they have 3 options.
1. Remove kids from the room
2. Get a headset.
3.Don't get M rated games
other than that nothing really more to say.