I’m not a fan of explicit lyrics, so I disable ‘em on the HomePod. You can, too, if you wish. Here’s how:
Go to the Home app on your iPhone.
Choose HomePod speaker in the Favorite Accessories list.
Press and hold the HomePod icon.
Scroll down to Music & Podcasts.
Toggle Allow Explicit Content to enable/disable it.
(This how-to is based on my experiences and info on Apple’s support pages — where the images sometimes come from.)