It sounds like you're doing just about right. My kids and I are the palest people on the planet. If we're going to play in the sun for a prolonged period (playground, beach, etc) we slather up with sunscreen. But if we're just hanging around the house, in and out of the backyard, quick trip to the park down the street, we skip it. The cancer danger increases exponentially with each sunburn, but mild sun exposure is healthy.
If you or your children have more than 50 freckles on your body, you are considered an "increased cancer risk" and should get a full body check by a dermatologist every year. I probably have upwards of 500 freckles, so right now I go every 6-9 months.