Using Language with Sensitivity

The English language is diverse in itself. It is difficult when writing and speaking to use the correct grammar. You are always cautious when speaking to strangers that you do not offend them by the words you choose to use. The slang and terminology you may use around your friends could be offensive to other people around you. Even at times you may not think the words you use are offensive to anyone, those words could be hurtful to others. It may be socially acceptable for a certain group or race to refer to their selves as a certain term. Yet, if other people use that same term, and it is offensive to the other group, there is a hypocritical connotation. How do we solve this problem?