I was talking to a few friends about what the word queer means?

Then they all gasped when I used it. I’m bisexual; I usually say that I am queer ID. Most of my friends hate when I say this, my sister refuses to say that I’m queer ID. I understand that this is a dirty word to them, mainly because of the negativity it was used for. But I know a lot of LGBT who say queer community mainly because it’s an umbrella term for us, it covers everybody under it. I tried to explain this but they wouldn't hear it (they are straight by the way) how can I explain that this is now our word, that I am queer and proud of it? Should I stop using it because it makes others feel uncomfortable?