Do kids really catch on to many of the adult themes in Futurama?

I was not a regular watcher of Futurama when it aired, but catching it now on Netflix I notice an awful lot of nudity, adult situation, and sexual innuendos. I know many kids probably watch it because it is animated. How many do you think understand of figure out the adult situations, the drunkenness, drug use, hooker buying and sexual content? If they had no real knowledge of such, do you believe they could gain knowledge of it by watching?