Every word has its own flavour, its own penumbra, its own history, its own baggage, its own connotations. I don't really like the flavour (if you see what I mean) etc. of 'poo'.
Then, quite simply, don't use it... There are many words/phrases I hate for varying reasons; chipolata, freak, semolina, 'for' free... But I don't expect others to dislike them to the same, or indeed any, intensity... be my reasons coated in historical reasoning or not.
I always think the main importance of language and words is the story or the sentiment behind it. Childish or not, I'd much rather hear someone saying 'dog poo' in an embarrassed tone than an aggressive tone of any other phrasing.
Words are what you make of them. They are but letters. To believe otherwise is always going to lead to disappointment to hear others not using them in the same way as you.