As far as friends and family go, I have yet to have anyone take issue with it but, if they did, I'd just tell them, "Tough. You don't have to feed them so what's it matter to you?" For the most part, they are interested and, while not motivated to make the change for their own dogs, they find it interesting and are no longer afraid to give their dogs tidbits of raw meat when preparing a meal for the human members. My mom, in particular, has become very comfortable with tossing her Boxer a bite of ground beef here and there (before seasonings, of course) when she's making burger patties to throw on the grill or a small bite of fat on occasion when trimming a piece of beef. She doesn't feed raw, but she's lost her fear of her dog dying because he has been in the same room as raw meat (okay, I exaggerated that bit).
At this point, I don't try to explain to the people you mentioned unless they actually WANT to learn. I've found that many people who feed the cheap kibbles just don't care and have no desire to change. The ones who ARE interested, though, I am thrilled to help them in any way I can whether it be finding a better kibble option, directing them towards raw reading materials, or giving them a step by step run through of what I do.
My issue, though, is that I feel like I have to explain it all and then it sounds scary to someone who has never fed raw before. I think I have managed to get it to a point where I can communicate that, while it may sound daunting at first, whether they hear my words or read someone else's, it does become second nature and just another part of your daily routine.