Most of the TV shows that people refer to as "classics" were created as children's shows. (Gundam, Macross, Yamato, City Hunter, Candy Candy, Orange Road, etc. etc.)
There are still plenty of children's shows being made today, and they're tamer than they've ever been (lol @ Dragonball censorship); watch those and be happy.
The late-night otaku market evolved from the OVA market, which has always been full of
sex and violence. You're only just now noticing in the 21st century because the internet has brought it to your attention.