I hate things that think they can get away with having no substance and only fanservice. See: High School of the Dead (or better yet, don't).
Hey! Animes like that and Eiken are hilarious though. Those two animes are ridiculously fanservicy(?) and surely lack a decent story. But they are very amusing. It's like watching B-movies, no one expects it to win an oscar but it's enjoyable for what it is.
Ontopic: Yeah, esrb can be....abnormally strict at times. For a nation that supports and is filled with sluts, whores, shackers, nudist, swingers, and sexually "free" people, the esrb is really strict on stuff like that. I'm very traditional and prefer my women with clothes on (Hello Helena). If a woman can turn you on while fully clothed(at least compared to other women), just imagine what she can do without em. It's the reason why I prefer burlesque over strippers. Style and grace over @$$ and shakes erryday.