Recently, I often hear swear words in various videos (like those on Youtube), in voice chats while playing games, and in dramas on Netflix. According to my native English-speaking friends, such words are used relatively everyday (between friends, of course).
As someone who is learning English as a second language, I basically had a rather strong image of such words as "bad words" and thought they were not often used on a daily basis, but apparently this is not the case in reality.

It is true that such words, which are considered bad words in my mother tongue (Japanese), are frequently used in everyday conversation (among friends, of course).

So my question is, if such words are used on a daily basis, is it OK for someone learning English as a second language to use them (of course depends on situation)? Or, should I totally avoid using it?