How can I easily deseed citrus juice?

I love fresh-squeezed citrus juice. Whether it is orange, grapefruit, lime or lemonade, I like the citrus to have a decent amount of pulp with it. It’s healthier, less wasteful and to me, tastier too. So filtering or running the juice through a strainer is out.

But I am not fond of drinking seeds. Grapefruits in particular can be a challenge because many have just a few large seeds and several dozen tiny ones. That makes picking each seed out by hand time consuming. Is there some handy juicer or kitchen appliance that can make short work of getting the citrus juice I crave?